CN111386508A

CN111386508A - Obstacle avoidance control method, device and equipment for unmanned spraying machine and storage medium

Info

Publication number: CN111386508A
Application number: CN201880069596.7A
Authority: CN
Inventors: 李劲松; 彭昭亮; 贾向华
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2020-07-07
Also published as: WO2020107475A1

Abstract

Provided are an obstacle avoidance control method and device for a spraying unmanned aerial vehicle and a storage medium. The obstacle avoidance control method comprises the following steps: acquiring detection data output by detection equipment when a spraying unmanned aerial vehicle executes a spraying task according to an operation route, wherein the operation route comprises a plurality of operation route segments (S601); building a digital map according to the detection data (S602); when the spraying unmanned aerial vehicle executes the spraying task on one of the operation route sections, the obstacle which can be detected on other operation route sections is detected and set, and when the spraying unmanned aerial vehicle executes the spraying task on the current operation route section, if the obstacle is determined to exist in the current operation route section, a target obstacle avoiding path which is parallel to the current route section can be determined according to the digital map (S603); controlling the spraying unmanned aerial vehicle to move to a target obstacle avoidance path from the current operation route section for obstacle avoidance (S604); when the obstacle avoidance is determined, controlling the spraying unmanned aerial vehicle to return to the current operation route section from the target obstacle avoidance path to continue to execute the spraying task (S605); the unmanned spraying machine does not need to be immobilized and mechanically detour to avoid obstacles and is frequently stopped and rotated, and the detour efficiency of the unmanned spraying machine is improved.

Description

Obstacle avoidance control method, device and equipment for unmanned spraying machine and storage medium

Technical Field

The embodiment of the invention relates to the field of unmanned spraying machines, in particular to an obstacle avoidance control method, device and equipment for an unmanned spraying machine and a storage medium.

Background

Spraying unmanned aerial vehicle among the prior art is provided with usually and keeps away barrier system, when keeping away barrier system and detecting the barrier that sprays around the unmanned aerial vehicle, sprays unmanned aerial vehicle and keeps away the barrier by-pass.

However, the detour route of spraying unmanned aerial vehicle when obstacle is kept away in the detour is comparatively fixed, mechanized, leads to spraying unmanned aerial vehicle and need fly far route just can bypass the barrier, perhaps, sprays unmanned aerial vehicle and need fly longer time just can bypass the barrier, has reduced the efficiency of bypassing of spraying unmanned aerial vehicle.

Disclosure of Invention

The embodiment of the invention provides an obstacle avoidance control method, device and equipment of a spraying unmanned aerial vehicle and a storage medium, so as to improve the bypassing efficiency of the spraying unmanned aerial vehicle.

A first aspect of an embodiment of the present invention provides an obstacle avoidance control method for a spraying unmanned aerial vehicle, where the spraying unmanned aerial vehicle is provided with a detection device, and the detection device is used to detect an obstacle, and the method includes:

acquiring detection data output by detection equipment in the process that the spraying unmanned aerial vehicle executes a spraying task according to an operation route, wherein the operation route comprises a plurality of operation route segments;

establishing a digital map according to the detection data;

in the process that the spraying unmanned aerial vehicle executes a spraying task according to the current operation route section in the operation route sections, if the current operation route section is determined to have an obstacle, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map;

controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment, and controlling the spraying unmanned aerial vehicle to move according to the target obstacle avoidance path;

and after the obstacle is determined to be avoided, controlling the spraying unmanned aerial vehicle to return to the current operation route section from the target obstacle avoidance path to continue to execute a spraying task.

A second aspect of the embodiments of the present invention is to provide an obstacle avoidance control device for a spraying unmanned aerial vehicle, where the spraying unmanned aerial vehicle is provided with a detection device, the detection device is used to detect an obstacle, and the obstacle avoidance control device includes: a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

establishing a digital map according to the detection data;

A third aspect of an embodiment of the present invention provides a spraying unmanned aerial vehicle, including:

a body;

the power system is arranged on the fuselage and used for providing flight power;

a detection device for detecting an obstacle; and

the obstacle avoidance control device according to the second aspect.

A fourth aspect of embodiments of the present invention is to provide a computer-readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the method according to the first aspect.

According to the obstacle avoidance control method, the obstacle avoidance control device, the obstacle avoidance control equipment and the storage medium for the spraying unmanned aerial vehicle, the detection data output by the detection equipment when the spraying unmanned aerial vehicle performs the spraying task according to the operation route is obtained, and the digital map is established according to the detection data. When the spraying unmanned aerial vehicle executes a spraying task at the current operation route segment, if the obstacle is determined to exist in the current operation route segment, a target obstacle avoidance path parallel to the current operation route segment can be determined according to the digital map, and the spraying unmanned aerial vehicle is controlled to move to the target obstacle avoidance path from the current operation route segment to avoid the obstacle, so that the spraying unmanned aerial vehicle does not need to be fixed and mechanized to avoid the obstacle in a bypassing way, frequently pauses and rotates, frequently detects whether the obstacle exists on the current operation route segment, and improves the bypassing efficiency of the spraying unmanned aerial vehicle.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present invention;

FIG. 2 is a schematic diagram of a user interface provided by an embodiment of the present invention;

FIG. 3 is a schematic illustration of a working flight path provided by an embodiment of the present invention;

FIG. 4 is a diagram illustrating a detection range of a radar according to an embodiment of the present invention;

fig. 5 is a schematic diagram of obstacle avoidance bypassing provided in the prior art;

fig. 6 is a flowchart of an obstacle avoidance control method for a spraying unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 7 is a diagram illustrating a detection range of a radar according to an embodiment of the present invention;

fig. 8 is a schematic diagram of a spraying unmanned aerial vehicle provided in an embodiment of the present invention executing a spraying task;

fig. 9 is a schematic diagram of digital map creation according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a spraying unmanned aerial vehicle detouring obstacle avoidance provided in the embodiment of the present invention;

fig. 11 is a schematic diagram of another obstacle avoidance bypassing spraying unmanned aerial vehicle according to the embodiment of the present invention;

fig. 12 is a schematic diagram of another obstacle avoidance bypassing spraying unmanned aerial vehicle according to the embodiment of the present invention;

fig. 13 is a schematic diagram of another obstacle avoidance bypassing spraying unmanned aerial vehicle according to the embodiment of the present invention;

FIG. 14 is a schematic diagram of another user interface provided by embodiments of the present invention;

fig. 15 is a flowchart of an obstacle avoidance control method for a spraying drone according to another embodiment of the present invention;

fig. 16 is a schematic diagram of a plurality of obstacle avoidance paths according to an embodiment of the present invention;

fig. 17 is a flowchart of an obstacle avoidance control method for a spraying drone according to another embodiment of the present invention;

FIG. 18 is a schematic diagram of a target return path according to an embodiment of the present invention;

FIG. 19 is a schematic diagram of another target return path provided by an embodiment of the present invention;

FIG. 20 is a schematic view of another user interface provided by embodiments of the present invention;

FIG. 21 is a schematic view of another user interface provided by embodiments of the present invention;

FIG. 22 is a schematic illustration of another work route provided by an embodiment of the present invention;

FIG. 23 is a schematic illustration of another work route provided by an embodiment of the present invention;

FIG. 24 is a schematic illustration of another work route provided by an embodiment of the present invention;

FIG. 25 is a schematic illustration of another work route provided by an embodiment of the present invention;

fig. 26 is a structural diagram of an obstacle avoidance control apparatus according to an embodiment of the present invention;

fig. 27 is a structural diagram of a spraying unmanned aerial vehicle provided in the embodiment of the present invention.

Reference numerals:

10: an unmanned aerial vehicle; 101: a flight controller; 12: a communication module;

13: a ground control end; 0: a waypoint; 1: a waypoint;

2: a waypoint; 3: a waypoint; 4: a waypoint;

5: a waypoint; 6: a waypoint; 7: a waypoint;

8: a waypoint; 9: a waypoint; 10: a waypoint;

11: a waypoint; 21: a user interface; 22: an electronic map;

23: a working area; 41: spraying an unmanned aerial vehicle; 51: an obstacle;

71: an obstacle; 72: an obstacle; 73: an obstacle;

80: spraying the head of the unmanned aerial vehicle; 91: an obstacle; 92: a target obstacle avoidance path;

93, obstacle avoidance path; 94; obstacle avoidance path: 95, obstacle avoidance path;

96: an obstacle avoidance path; 97: an obstacle avoidance path; 141: popping the frame;

142: a radar chart; 143: historical path points; 144: a path to be traveled;

145: a historical path; 146: waypoints to be traveled; 147: a historical path;

148: waypoints to be traveled; 260: an obstacle avoidance control device; 261: a memory;

262: a processor; 263: a communication interface; 270: spraying an unmanned aerial vehicle;

271: a detection device; 272: an obstacle avoidance control device; 273: a motor;

274: a propeller; 275: an electronic governor; 277: and a communication module.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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 invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

As shown in fig. 1, the drone 10 may in particular be a spraying drone, for example an agricultural drone (a drone spraying pesticides, seeds, moisture). 101 denotes a flight controller of the unmanned aerial vehicle 10, and the flight controller 101 is used to control the flight of the unmanned aerial vehicle 10. 12 denotes a communication module of the unmanned aerial vehicle 10, and the communication module 12 may specifically be a wireless communication module, and the communication module 12 may perform wireless communication with the ground control terminal 13. In some embodiments, the communication module 12 may also be in wired communication with the surface control terminal 13. Optionally, the ground control end 13 is specifically a remote controller, a smart phone, a tablet computer, or the like, and a combination thereof. The ground control end 13 may control the drone 10 to perform a spraying task, or the drone 10 may also operate autonomously.

Taking the autonomous operation of the unmanned aerial vehicle 10 as an example, the ground control end 13 may send an operation route to the unmanned aerial vehicle 10, and the unmanned aerial vehicle 10 autonomously performs a spraying task according to the operation route. Optionally, the ground control end 13 may store the working route locally in advance. Alternatively, the ground control 13 may download the work route from a cloud server. Still alternatively, the ground control end 13 may generate a working route according to the position information of the working area to be sprayed. One way to implement the ground control end 13 to generate the working route according to the position information of the working area to be sprayed is: as shown in fig. 2, 21 represents a user interface of the ground control terminal 13, an electronic map 22 is displayed in the user interface 21, and a user can select a working area to be sprayed in the electronic map 22, for example, points a, B, C and D represent four points on the edge of the working area 23. This is only an illustrative illustration and does not limit the shape of the working area to be sprayed. The ground control 13 plans a working route of the drone 10, such as the working route from waypoint 0 to waypoint 11 shown in fig. 2, in the working area 23 according to a preset algorithm, such as a full coverage path planning algorithm. It will be appreciated that the working path is made up of a series of waypoints.

In some embodiments, the operation area to be sprayed may not be framed in the electronic map by the user, but is preset, that is, the position information of the operation area to be sprayed is preset, and the ground control end 13 only needs to generate an operation route according to the position information of the operation area to be sprayed.

Further, the ground control end 13 sends the working route to the unmanned aerial vehicle 10, and after the flight controller 101 of the unmanned aerial vehicle 10 receives the working route through the communication module 12, the spraying task is autonomously executed according to the working route. The process of the flight controller 101 autonomously performing the spraying task according to the working route is specifically shown in fig. 3, point E represents a starting point, i.e., HOME point, of the unmanned aerial vehicle 10, and the unmanned aerial vehicle 10 receives the working route, which is sent by the ground control terminal 13 and is shown in fig. 2, at point E, the working route includes a plurality of working route segments, wherein the working route segments are route segments between two adjacent waypoints, for example, a working route segment from waypoint 0 to waypoint 1, a working route segment from waypoint 1 to waypoint 2, a working route segment from waypoint 2 to waypoint 3, and so on, a working route segment from waypoint 10 to waypoint 11. The flight controller 101 controls the unmanned aerial vehicle 10 to fly from point E to the first waypoint, i.e., waypoint 0, controls the nozzles to be opened at waypoint 0, controls the unmanned aerial vehicle 10 to fly from waypoint 0 to waypoint 1 according to a series of waypoints from waypoint 0 to waypoint 1, and controls the nozzles to be closed at waypoint 1, thereby completing the spraying task corresponding to the operating waypoint segment from waypoint 0 to waypoint 1. Further, the flight controller 101 controls the unmanned aerial vehicle 10 to traverse from the waypoint 1 to the waypoint 2, where the traverse means that the head of the unmanned aerial vehicle 10 is oriented in the same direction as the direction of the working route segment from the waypoint 0 to the waypoint 1 while the unmanned aerial vehicle 10 is flying from the waypoint 1 to the waypoint 2. When the unmanned aerial vehicle 10 transversely moves to the waypoint 2, the flight controller 101 controls the spray head to be opened again, when the unmanned aerial vehicle 10 flies to the waypoint 3 from the waypoint 2, the flight controller 101 controls the spray head to be closed again, so that the spraying task corresponding to the operation route section from the waypoint 2 to the waypoint 3 is completed, and the like is repeated until the unmanned aerial vehicle 10 flies back to the HOME point (point E) from the waypoint 11 after completing the spraying task corresponding to the operation route section from the waypoint 10 to the waypoint 11, so that the spraying task to the operation area 23 is completed. That is, for example, the working flight segment from waypoint 0 to waypoint 1 is the flight segment where the spraying drone performs the spraying mission. For example, the working flight line segment from waypoint 1 to waypoint 2 is a flight line segment when the spraying drone is traversing.

In some embodiments, the ground control end 13 may also send the position information of the working area to be sprayed to the unmanned aerial vehicle 10, and the unmanned aerial vehicle 10 generates a working route according to the position information of the working area and autonomously performs the spraying task according to the working route. The process and principle of the unmanned aerial vehicle 10 generating the operation route according to the position information of the operation area are similar to the process of the ground control end 13 generating the operation route according to the position information of the operation area, and are not repeated here.

In other embodiments, the drone 10 may also have a working flight path pre-stored and perform a spraying mission in accordance with the working flight path.

During the process of a spraying unmanned aerial vehicle, such as an agricultural unmanned aerial vehicle, performing a spraying task according to a working route, an obstacle may be encountered at any time, and at the moment, the spraying unmanned aerial vehicle needs to bypass the obstacle and return to the current working route segment. For safety work, spraying drones are generally provided with detection devices, for example radar (millimeter-wave radar or laser radar), ultrasonic detection devices, TOF ranging detection devices, visual detection devices, laser detection devices, etc. Take the radar for example, as shown in fig. 4, be provided with the millimeter wave radar on spraying unmanned aerial vehicle 41, this millimeter wave radar can detect this obstacle that sprays unmanned aerial vehicle 41 the place ahead and the rear preset within range, and this preset within range can be positive negative 45 degrees scope as shown in fig. 4. When an obstacle appears in front of the spraying drone 41, the process of the spraying drone 41 bypassing the obstacle avoidance in the prior art may include several steps as shown in fig. 5:

step 1, the spraying unmanned aerial vehicle 41 detects that there is an obstacle 51 in the place ahead, and firstly brakes.

And 2, rotating the spraying unmanned aerial vehicle 41 by 90 degrees to the left side under the body coordinate system.

And step 3, the spraying unmanned aerial vehicle 41 flies forwards in the body coordinate system, and the spraying unmanned aerial vehicle 41 hovers when the distance of the spraying unmanned aerial vehicle 41 flying forwards in the body coordinate system is d 1.

And 4, rotating the spraying unmanned aerial vehicle 41 by 90 degrees to the right under the body coordinate system, and returning to the direction of the previous flight path.

And 5, the spraying unmanned aerial vehicle 41 flies forwards in the body coordinate system, and the spraying unmanned aerial vehicle 41 hovers when the distance of the forward flight of the spraying unmanned aerial vehicle 41 in the body coordinate system is d 2.

And 6, the spraying unmanned aerial vehicle 41 rotates 90 degrees to the right under the body coordinate system, whether an obstacle exists on the previous flight path segment is detected, and if not, the unmanned aerial vehicle flies forwards under the body coordinate system.

And 7, returning the spraying unmanned aerial vehicle 41 to the previously-located flight path to continue to perform the subsequent spraying task.

In addition, if in step 6, the spraying unmanned aerial vehicle 41 detects that there is an obstacle on the previous flight path, the spraying unmanned aerial vehicle 41 may rotate 90 degrees to the left under the body coordinate system, and continue to fly forward according to the direction shown in step 5 until the spraying unmanned aerial vehicle 41 detects that there is no obstacle on the previous flight path, and return to the previous flight path according to the direction shown in step 7 to continue to perform the subsequent spraying task.

Therefore, if the values of the distance d1 and the distance d2 are small, the spraying unmanned aerial vehicle may frequently stop, rotate and frequently detect whether an obstacle exists on the original route segment. If the distance d1 and the distance d2 are large in value, the spraying unmanned aerial vehicle may miss a large operation area. In order to solve the problem, an embodiment of the present invention provides an obstacle avoidance control method for a spraying unmanned aerial vehicle, so as to provide a more flexible obstacle avoidance strategy for the spraying unmanned aerial vehicle.

The embodiment of the invention provides an obstacle avoidance control method for a spraying unmanned aerial vehicle. The unmanned spraying machine is provided with a detection device, and the detection device is used for detecting obstacles. Optionally, the spraying unmanned aerial vehicle is an agricultural unmanned aerial vehicle.

Fig. 6 is a flowchart of an obstacle avoidance control method for a spraying unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 6, the method in this embodiment may include:

step S601, acquiring detection data output by detection equipment in the process that the spraying unmanned aerial vehicle executes a spraying task according to an operation route, wherein the operation route comprises a plurality of operation route segments.

In this embodiment, spray that set up on the unmanned aerial vehicle detecting device can be radar, ultrasonic detection equipment, TOF range finding detecting device, vision detecting device, laser detection equipment etc.. The present embodiment takes a radar as an example, and the radar may be specifically a millimeter wave radar. As shown in fig. 7, the millimeter wave radar may detect obstacles in respective viewing angles of 90 degrees before and after the spraying drone 41, and the maximum detection distance of the millimeter wave radar is 40 meters. In the process that the spraying unmanned aerial vehicle executes the spraying task according to the operation route, the millimeter wave radar detects the obstacles in the visual angle of the spraying unmanned aerial vehicle in real time. The working air line can be specifically a working air line as shown in fig. 2, 3 and 4, and comprises a plurality of working air line segments, and the working air line segments not only can be air line segments for the spraying unmanned aerial vehicle to execute a spraying task, but also can be air line segments for the spraying unmanned aerial vehicle 41 to move transversely.

Specifically, the millimeter wave radar tracks the original data of the detected target for multiple times, evaluates the track quality of the target during each tracking, determines that the target is a real and effective obstacle when the track quality reaches a certain threshold value, outputs detection data, and sends the detection data to the navigation module and the flight controller of the unmanned spraying vehicle 41. Optionally, the detection data includes at least one of: the size of the obstacle, the distance and the direction of the obstacle relative to the spraying unmanned aerial vehicle. Wherein, the barrier relative to the distance of spraying unmanned aerial vehicle can the barrier with spray the straight-line distance between the unmanned aerial vehicle, the barrier relative to the direction of spraying unmanned aerial vehicle specifically can the barrier, spray the line between the unmanned aerial vehicle with spray the contained angle between the aircraft nose orientation of unmanned aerial vehicle promptly the barrier deviates from the angle of aircraft nose orientation. In this embodiment, the aircraft nose orientation that sprays unmanned aerial vehicle can be unanimous with the direction of operation flight segment, also can be opposite with the direction of operation flight segment, as shown in fig. 8, 80 represents the aircraft nose that sprays unmanned aerial vehicle, when spraying unmanned aerial vehicle and carrying out the spraying task at operation flight segment 23, the aircraft nose orientation that sprays unmanned aerial vehicle is unanimous with the direction of operation flight segment 23. The direction of the working flight segment may be a direction pointing from a historical waypoint that the spraying drone has passed to an upcoming waypoint when the spraying drone is flying on the working flight segment. In the process that the spraying unmanned aerial vehicle transversely moves from the waypoint 3 to the waypoint 4, the head orientation of the spraying unmanned aerial vehicle is unchanged. When the spraying drone performs the spraying task at the working flight 45, the head of the spraying drone faces in the opposite direction to the working flight 45. That is, when the spraying drone performs a spraying task at the working flight segment 23, the spraying drone flies forward under the body coordinate system. When the spraying unmanned aerial vehicle executes the spraying task on the operation route segment 45, the spraying unmanned aerial vehicle flies backwards under the body coordinate system. In some embodiments, the spraying drone may also be rotated after the traverse is over, for example at waypoint 4, to orient the head of the spraying drone in line with the direction of the working flight segment 45.

As shown in fig. 7, 71 and 72 represent obstacles detected by the millimeter wave radar, and detection data output by the millimeter wave radar includes the size of the obstacle 71, the distance and direction of the obstacle 71 relative to the spraying drone 41; and the size of the obstacle 72, the distance, direction of the obstacle 72 relative to the spraying drone 41. The size of the obstacle 71 may be the width of the obstacle 71, the distance d1 between the obstacle 71 and the spraying unmanned aerial vehicle 41, and the direction of the obstacle 71 relative to the spraying unmanned aerial vehicle 41 may be the angle θ 1 of the obstacle 71 deviating from the head orientation of the spraying unmanned aerial vehicle 41. The size of the obstacle 72 may specifically be the width of the obstacle 71, the distance of the obstacle 72 with respect to the spraying drone 41 is d2, and the direction of the obstacle 72 with respect to the spraying drone 41 may specifically be the angle θ 2 at which the obstacle 72 is offset from the head orientation of the spraying drone 41.

And step S602, establishing a digital map according to the detection data.

Since the millimeter wave radar has a projective property, as shown in fig. 9, the millimeter wave radar can also detect an obstacle 73 blocked by the obstacle 72, for example, the distance d3 of the obstacle 73 with respect to the spraying drone 41, and the angle θ 3 at which the obstacle 73 is oriented away from the head of the spraying drone 41. After the navigation module of the spraying unmanned aerial vehicle 41 receives the detection data output by the millimeter wave radar, a digital map is established according to the detection data. The digital map may be a global grid map, and the digital map is schematically illustrated as the global grid map, and it is understood that the global grid map appearing in the following part of the present document may be equally replaced with the digital map. The navigation module marks the obstacle according to the detection data in the global grid map, and optionally, the navigation module marks the position corresponding to the obstacle in the global grid map according to the size of the obstacle detected by the millimeter wave radar, the distance and the direction relative to the unmanned aerial vehicle, and marks the weight reduction value of the position without the obstacle. As shown in fig. 9, the position corresponding to +5 indicates that there is an obstacle, and the position corresponding to-1 indicates that there is no obstacle. Optionally, the magnitude of the weighted value and the magnitude of the weighted value may be used to measure the reliability of the millimeter wave radar detection data, for example, the magnitude of the weighted value may be used to measure the reliability of the real obstacle, and the magnitude of the weighted value may be used to measure the reliability of the no obstacle. The navigation module may determine which locations in the global grid map have obstacles based on a threshold. In this embodiment, since the millimeter wave radar can output the detection data in real time, the navigation module can construct the global grid map in real time.

Step S603, in the process that the spraying unmanned aerial vehicle executes the spraying task according to the current operation route section in the operation route sections, if the obstacle is determined to exist on the current operation route section, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map.

As shown in fig. 10, the spraying drone 41 performs the spraying mission according to a working route which includes a plurality of working route segments, for example, a working route segment from waypoint 0 to waypoint 1, a working route segment from waypoint 2 to waypoint 3, a working route segment from waypoint 4 to waypoint 5, and a working route segment from waypoint 6 to waypoint 7, which are only schematically illustrated here and do not limit the shape of the working route and the number of working route segments of the working route.

The spraying unmanned aerial vehicle 41 performs a spraying task according to a current operation route segment of the plurality of operation route segments, for example, an operation route segment from the waypoint 2 to the waypoint 3, and the spraying unmanned aerial vehicle 41 detects whether there is an obstacle in the current operation route segment in real time. Specifically, the millimeter wave radar on the spraying unmanned aerial vehicle 41 detects the obstacle in the visual angle thereof in real time, and the spraying unmanned aerial vehicle 41 determines whether there is an obstacle in the current operation flight segment according to the detection data of the millimeter wave radar. As shown in fig. 10, when the spraying drone 41 performs a spraying task on a working route segment from the waypoint 2 to the waypoint 3, the millimeter wave radar detects the obstacle 91, that is, the obstacle 91 is within the angle of view of the millimeter wave radar. This millimeter wave radar sends the detection data to the navigation module and the flight controller of spraying unmanned aerial vehicle 41, and this detection data can include the size of obstacle 91, the distance and the direction of obstacle 91 for spraying unmanned aerial vehicle 41. And the navigation module establishes a global grid map according to the detection data. At this time, the flight controller may determine whether the obstacle 91 is in the current working route segment based on the detection data. Because the angle of the obstacle 91 deviating from the head orientation of the spraying unmanned aerial vehicle 41 is large, the flight controller determines that the obstacle 91 is not in the current operation route segment according to the direction of the obstacle 91 relative to the spraying unmanned aerial vehicle 41, and controls the spraying unmanned aerial vehicle 41 to continue to perform the spraying task. After the spraying unmanned aerial vehicle 41 finishes the spraying task corresponding to the current operation route segment, the flight controller controls the spraying unmanned aerial vehicle 41 to move transversely from the waypoint 3 to the waypoint 4, and the spraying unmanned aerial vehicle 41 starts to execute the spraying task from the waypoint 4 according to the operation route segment from the waypoint 4 to the waypoint 5.

When the spraying unmanned aerial vehicle 41 executes the spraying task according to the current operation route segment, i.e., the operation route segment from the waypoint 4 to the waypoint 5, the spraying unmanned aerial vehicle 41 detects whether an obstacle exists in the current operation route segment in real time. And if the obstacle exists in the current operation route segment, determining a target obstacle avoidance path parallel to the current operation route segment according to the digital map established by the navigation module.

In some embodiments, if it is determined that an obstacle exists on the current operation route segment, determining, according to the digital map, a target obstacle avoidance path parallel to the current operation route segment includes: and if the obstacle exists on the current operation route segment according to the detection data of the detection equipment and/or the digital map, determining a target obstacle avoidance path parallel to the current operation route segment according to the digital map.

Specifically, when the spraying unmanned aerial vehicle 41 executes the spraying task according to the current operation route segment, that is, the operation route segment from the waypoint 4 to the waypoint 5, the navigation module in the spraying unmanned aerial vehicle 41 determines whether an obstacle exists in the current operation route segment according to the global grid map established by the navigation module, or/and the flight controller of the spraying unmanned aerial vehicle 41 determines whether an obstacle exists in the current operation route segment according to the detection data of the millimeter wave radar. As shown in fig. 10, the working route segment from waypoint 2 to waypoint 3 is referred to as working route segment 23, and the working route segment from waypoint 4 to waypoint 5 is referred to as working route segment 45. Since the millimeter wave radar has detected the obstacle 91 in the working flight segment 45 when the spraying drone 41 performs the spraying task on the working flight segment 23, the navigation module marks the obstacle 91 in the global grid map. Therefore, when the spraying unmanned aerial vehicle 41 performs a spraying task on the working route segment 45, the global grid map is already marked with the obstacle 91, and the navigation module can determine that the obstacle 91 exists in the current working route segment, i.e., the working route segment 45, according to the global grid map. Or/and when the spraying unmanned aerial vehicle 41 executes the spraying task on the operation route segment 45, if the obstacle 91 is within the view angle of the millimeter wave radar, and the distance between the obstacle 91 and the spraying unmanned aerial vehicle 41 is less than or equal to the maximum detection distance of the millimeter wave radar, the millimeter wave radar can detect the obstacle 91 in real time and send detection data to the navigation module and the flight controller, and the flight controller can determine whether the obstacle exists in the current operation route segment, i.e., the operation route segment 45, according to the detection data. For example, the detection data includes the size of the obstacle 91, the distance and the direction of the obstacle 91 relative to the spraying drone 41, and the flight controller may determine whether the obstacle 91 falls on the working route segment 45 or whether the distance of the obstacle 91 relative to the working route segment 45 is smaller than a preset distance according to the size of the obstacle 91, the distance and the direction of the obstacle 91 relative to the spraying drone 41, and determine that the obstacle 91 is in the working route segment 45 if the obstacle 91 falls on the working route segment 45 or the distance of the obstacle 91 relative to the working route segment 45 is smaller than the preset distance.

When the obstacle is determined to exist in the current operation route segment, a target obstacle avoidance path parallel to the current operation route segment is determined according to a digital map established by a navigation module, and the following feasible implementation modes are specifically provided:

one possible implementation is: when the flight controller determines that the obstacle 91 exists in the current operation route segment, namely the operation route segment 45, according to the detection data of the millimeter wave radar, the flight controller sends request detour information to the navigation module, and after the navigation module receives the request detour information, the navigation module determines a target obstacle avoidance path parallel to the current operation route segment according to the global grid map established by the navigation module.

Another possible implementation is: when the navigation module monitors that an obstacle 91 exists in the operation route segment 45 according to the global grid map, the navigation module sends request detour information to the flight controller, after the flight controller confirms the request detour information, the flight controller sends confirmation detour information to the navigation module, and the navigation module determines a target obstacle avoidance path parallel to the current operation route segment according to the global grid map.

In addition, as shown in fig. 10, when the spraying unmanned aerial vehicle 41 performs a spraying task on the working route segment 23, the millimeter wave radar has detected the obstacle 91 in the working route segment 45, so that the navigation module marks the obstacle 91 in the global grid map. When the spraying drone 41 performs a spraying task on the working flight segment 45, in some cases, the global grid map is already marked with the obstacle 91, but since the obstacle 91 is in the working flight segment 45, the millimeter wave radar can continuously detect the obstacle 91 and send new detection data to the navigation module and the flight controller, and the navigation module can update the global grid map according to the new detection data, for example, update one or more of the position, the row shape and the size of the obstacle 91 in the global grid map.

And S604, controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment, and controlling the spraying unmanned aerial vehicle to move according to the target obstacle avoidance path.

As shown in fig. 10, 92 denotes a target obstacle avoidance path parallel to the current operation route segment, i.e., the operation route segment 45, and the flight controller may control the spraying unmanned aerial vehicle 41 to move from the current operation route segment, i.e., the operation route segment 45, to the target obstacle avoidance path 92, and control the spraying unmanned aerial vehicle 41 to move according to the target obstacle avoidance path 92.

In some embodiments, the method further comprises: in the process that the spraying unmanned aerial vehicle moves from the current operation route segment to the target obstacle avoidance path, the head orientation of the spraying unmanned aerial vehicle is adjusted to a first target orientation so as to adjust the detection direction of the detection equipment, wherein the first target orientation is the direction which is pointed to by the current operation route segment to the target obstacle avoidance path and forms a first preset included angle with the current operation route segment.

As shown in fig. 11, in the process that the spraying unmanned aerial vehicle 41 moves from the current operation route segment, i.e., the operation route segment 45, to the target obstacle avoidance path 92, the head orientation of the spraying unmanned aerial vehicle 41 is adjusted to adjust the detection direction of the millimeter wave radar on the spraying unmanned aerial vehicle 41, so as to increase the detectable range of the millimeter wave radar, optionally, the head orientation of the spraying unmanned aerial vehicle 41 is adjusted according to the direction from the operation route segment 45 to the target obstacle avoidance path 92, the adjusted head orientation forms a preset angle α with the operation route segment 45, for example, the preset angle α is 15 degrees, here, the preset angle α is recorded as a first preset angle, and the direction forming the first preset angle with the operation route segment 45 is recorded as a first target orientation of the spraying unmanned aerial vehicle 41, that is, the spraying unmanned aerial vehicle 41 moves from the current operation route segment, i.e., the operation route segment 45 to the target obstacle avoidance path 92 according to the adjusted first target orientation.

And step S605, after the obstacle is determined to be avoided, controlling the spraying unmanned aerial vehicle to return to the current operation route section from the target obstacle avoidance path to continuously execute a spraying task.

As shown in fig. 11, after determining that the spraying unmanned aerial vehicle 41 avoids the obstacle 91, the flight controller controls the spraying unmanned aerial vehicle 41 to return to the current working route segment, i.e., the working route segment 45, from the target obstacle avoidance path 92 to continue to perform the spraying task.

In some embodiments, the method further comprises: in the process that the spraying unmanned aerial vehicle moves from the target obstacle avoidance path to the current operation route segment, the head orientation of the spraying unmanned aerial vehicle is adjusted to a second target orientation so as to adjust the detection direction of the detection equipment, wherein the second target orientation is the direction in which the target obstacle avoidance path points to the current operation route segment and is a second preset included angle with the current operation route segment.

As shown in fig. 11, when the spraying unmanned aerial vehicle 41 moves from the target obstacle avoidance path 92 to the current operation route segment, i.e., the operation route segment 45, the head orientation of the spraying unmanned aerial vehicle 41 is adjusted to adjust the detection direction of the millimeter wave radar on the spraying unmanned aerial vehicle 41, and the detectable range of the millimeter wave radar is increased, optionally, the head orientation of the spraying unmanned aerial vehicle 41 is adjusted according to the direction from the target obstacle avoidance path 92 to the operation route segment 45, and the adjusted head orientation forms a preset angle β with the operation route segment 45, for example, the preset angle β is 15 degrees.

When the spraying unmanned aerial vehicle 41 moves from the point B in the operating line segment 45 to the target obstacle avoidance path 92, as shown in fig. 12, the head orientation of the spraying unmanned aerial vehicle 41 is adjusted at the point B position such that the head orientation after adjustment is at the preset angle α shown in fig. 11 with the operating line segment 45, i.e., the head orientation after adjustment is at the first target orientation described above, that is, the spraying unmanned aerial vehicle 41 moves from the operating line segment 45 to the target obstacle avoidance path 92 at the point B position according to the first target orientation after adjustment, point C represents one position point on the target obstacle avoidance path 92 that the spraying unmanned aerial vehicle 41 passes after the spraying unmanned aerial vehicle 41 moves to the target obstacle avoidance path 92, point C, the head orientation of the spraying unmanned aerial vehicle 41 may be still the first target orientation of the course, at which the head orientation of the spraying unmanned aerial vehicle 41 is adjusted to be in the direction with the direction of the operating line segment 45, when the spraying unmanned aerial vehicle 41 moves to the point D on the target obstacle avoidance path 92, the spraying unmanned aerial vehicle 41 may be in the point e.e.e.g., the head orientation of the spraying unmanned aerial vehicle 41 may be at the point F, and the head orientation of the spraying unmanned aerial vehicle may be adjusted at the point E4, when the spraying unmanned aerial vehicle head orientation of the spraying unmanned aerial vehicle 41 is at the head orientation of the operating line segment E, the operating point E, the head orientation of the spraying unmanned aerial vehicle 41 may be the operating point E, the spraying unmanned aerial vehicle 41, and the operating point F, the operating line segment E head orientation of the operating point F, the spraying unmanned aerial vehicle may be adjusted in the operating line segment E, and the operating point E, the operating point F, and the operating point F, when the operating point E may be the operating point F, the spraying unmanned aerial vehicle may be the operating point E, the operating point F may be adjusted in the operating point E, the operating point F, the operating point E, the operating line segment E, the operating point F may be adjusted in the operating point F, the operating point E, the operating line segment E, the operating point F may be the operating point F, the operating point F may be adjusted in the operating point F, the operating point E, the operating point F, the operating.

In some embodiments, an obstacle may also appear in the flight path section when the spraying drone 41 traverses, as shown in fig. 13, when the spraying drone 41 performs a spraying task in the working flight path section 45, the millimeter wave radar on the spraying drone 41 detects the obstacle 91, and sends detection data corresponding to the obstacle 91 to the navigation module and the flight controller, and the navigation module establishes a global grid map in which the obstacle 91 is marked. Since the obstacle 91 is not in the current working route segment, i.e., the working route segment 45, the flight controller controls the spraying unmanned aerial vehicle 41 to normally perform the spraying task in the working route segment 45. When the spraying unmanned aerial vehicle 41 finishes the spraying task corresponding to the operation flight line segment 45, in the process of transversely moving from the flight point 5 to the flight point 6, because the head orientation of the spraying unmanned aerial vehicle 41 is consistent with the direction of the operation flight line segment 45, the visual angle of the millimeter wave radar may not cover the obstacle 91, and the millimeter wave radar may not detect the obstacle in the flight line segment from the flight point 5 to the flight point 6. At this time, the navigation module may monitor whether there is an obstacle in the segment from waypoint 5 to waypoint 6 in real time according to the global grid map. Here, the route segment from waypoint 5 to waypoint 6 is denoted as route segment 56.

If the navigation module determines that an obstacle exists in the route segment 56, the navigation module may determine a target obstacle avoidance path parallel to the route segment 56 according to the global grid map, control the spraying unmanned aerial vehicle 41 to move from the route segment 56 to the target obstacle avoidance path by the flight controller, and control the spraying unmanned aerial vehicle 41 to move according to the target obstacle avoidance path. After the flight controller determines that the spraying drone 41 avoids the obstacle 91, the spraying drone 41 is further controlled to go back to the flight segment 56 from the target obstacle avoidance path.

Or, when the navigation module determines that there is an obstacle in the flight path segment 56, the navigation module may further send the distance and the direction of the obstacle relative to the spraying unmanned aerial vehicle 41 to the flight controller, and the flight controller may further control the spraying unmanned aerial vehicle 41 to hover, and further control the spraying unmanned aerial vehicle 41 to avoid the obstacle by the ground control end.

In the embodiment, the detection data output by the detection equipment when the spraying unmanned aerial vehicle executes the spraying task according to the operation route is obtained, and the digital map is established according to the detection data. When the spraying unmanned aerial vehicle executes a spraying task at the current operation route segment, if the obstacle is determined to be in the current operation route segment, a target obstacle avoidance path parallel to the current operation route segment can be determined according to the digital map, and the spraying unmanned aerial vehicle is controlled to move to the target obstacle avoidance path from the current operation route segment to avoid the obstacle, so that the spraying unmanned aerial vehicle does not need to be fixed, mechanically bypasses and avoids the obstacle, frequently pauses and rotates, and frequently detects whether the obstacle is in the current operation route segment, thereby improving the bypassing efficiency of the spraying unmanned aerial vehicle.

The embodiment of the invention provides an obstacle avoidance control method for a spraying unmanned aerial vehicle. On the basis of the above embodiment, the controlling the spraying unmanned aerial vehicle to move from the current operation route segment to the target obstacle avoidance path includes: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a first distance threshold value, controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment.

As shown in fig. 12, when the spraying unmanned aerial vehicle 41 flies to a point a on the working flight segment 45, the millimeter wave radar detects the obstacle 91, the millimeter wave radar sends detection data to the flight controller, and the flight controller determines that the distance of the spraying unmanned aerial vehicle 41 relative to the obstacle 91 is greater than the first distance threshold according to the detection data, and at this time, the flight controller may control the spraying unmanned aerial vehicle 41 to continue flying forward to perform a spraying task. As the spraying unmanned aerial vehicle 41 continuously flies forward along the operation flight path segment 45, the distance between the spraying unmanned aerial vehicle 41 and the obstacle 91 is continuously reduced, and when the flight controller determines that the distance between the spraying unmanned aerial vehicle 41 and the obstacle 91 is smaller than or equal to the first distance threshold value according to the detection data, the spraying unmanned aerial vehicle 41 is controlled to move to the target obstacle avoidance path 92 from the operation flight path segment 45. For example, when the spraying drone 41 flies to the point B on the working route segment 45, and the distance of the spraying drone 41 relative to the obstacle 91 is less than or equal to the first distance threshold, the flight controller controls the spraying drone 41 to move from the point B to the target obstacle avoidance path 92. The spraying drone 41 is in the "ready to avoid obstacle" state in the process from point a to point B.

In some embodiments, the method further comprises: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to the first distance threshold value, first state information that the spraying unmanned aerial vehicle is avoiding the obstacle is sent to a ground control end corresponding to the spraying unmanned aerial vehicle. For example, when the spraying unmanned aerial vehicle 41 flies to the point B on the working flight line segment 45, the distance of the spraying unmanned aerial vehicle 41 relative to the obstacle 91 is less than or equal to the first distance threshold, the flight controller controls the spraying unmanned aerial vehicle 41 to move from the point B to the target obstacle avoidance path 92, and at this time, the spraying unmanned aerial vehicle 41 sends the first state information that the spraying unmanned aerial vehicle 41 is avoiding the obstacle to the ground control end.

Optionally, the ground control end is provided with an application program for controlling the spraying unmanned aerial vehicle 41, a user interface of the application program is specifically shown in fig. 14, when the ground control end receives the first state information sent by the spraying unmanned aerial vehicle 41, the user interface displays the bullet frame 141, and displays the state information of "being in obstacle avoidance" in the bullet frame 141, and the bullet frame 141 may disappear within a preset time after displaying the state information, or may not disappear. In addition, when the user interface displays that the obstacle is being avoided, the ground control end can also perform corresponding voice prompt, so that when the user does not notice that the obstacle is being avoided displayed in the bullet frame 141, the ground control end can still prompt the user to spray the unmanned aerial vehicle 41 that the obstacle is being avoided. In addition, the unmanned aerial vehicle 41 that sprays can also send the obstacle information that sprays around the unmanned aerial vehicle 41 to this ground control end, and this obstacle information includes the size of this obstacle, the distance and the direction of this obstacle for spraying unmanned aerial vehicle 41. The application program may also display the radar map 142 corresponding to the obstacle in the user interface according to the obstacle information sent by the spraying drone 41. Wherein 91 in radar chart 142 represents an obstacle, and 41 represents a spraying drone. In addition, the spraying drone 41 may also send the historical waypoint and the path to be traveled of the spraying drone 41 to the ground control end, and the application may display the historical waypoint and the path to be traveled of the spraying drone 41 in the user interface. For example, in the radar map 142, 143 indicates the historical waypoints of the spraying drone 41, and 144 indicates the path on which the spraying drone 41 is to travel. Where the historical path point 143 may correspond to a waypoint between points a and B as shown in fig. 12. The path 144 to be traveled may specifically correspond to the path from point B to point C as shown in fig. 12. Wherein the historical path points 143 and the path to be traveled 144 may be displayed in different colors in the user interface.

In addition, as shown in fig. 12, when the spraying unmanned aerial vehicle 41 moves from the point B to the target obstacle avoidance path 92, the navigation module may calculate the speed limit value of the spraying unmanned aerial vehicle 41 according to the real-time distance between the spraying unmanned aerial vehicle 41 and the obstacle 91, generate a speed limit instruction according to the speed limit value, and send the speed limit instruction to the flight controller, so that the flight controller controls the spraying unmanned aerial vehicle 41 to decelerate according to the speed limit value in the speed limit instruction.

Optionally, when the spraying unmanned aerial vehicle 41 moves from the point B to the target obstacle avoidance path 92, or the spraying unmanned aerial vehicle 41 moves according to the target obstacle avoidance path 92, the user may also control the spraying unmanned aerial vehicle 41 to hover through the ground control end, or avoid an obstacle to detour.

In some embodiments, if it is determined that an obstacle exists on the current operation route segment, determining, according to the digital map, a target obstacle avoidance path parallel to the current operation route segment includes: if the obstacle exists on the current operation route segment, determining the distance between the obstacle existing on the current operation route segment and the spraying unmanned aerial vehicle; if the distance is larger than a first distance threshold and smaller than a second distance threshold, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map; wherein the second distance threshold is greater than the first distance threshold.

As shown in fig. 12, when the spraying drone 41 flies to the point a on the working flight line segment 45, the distance of the obstacle 91 from the spraying drone 41 is the second distance threshold, and when the spraying drone 41 flies to the point B, the distance of the obstacle 91 from the spraying drone 41 is the first distance threshold, and the second distance threshold is greater than the first distance threshold. Optionally, when the spraying unmanned aerial vehicle 41 is located between the point a and the point B, a target obstacle avoidance path parallel to the operation flight path segment 45 is determined according to a global grid map established by the navigation module. Alternatively, the first and second distance thresholds may be determined according to the flight speed of the spraying drone 41. For example, when the flying speed of the spraying drone 41 is large, the first distance threshold and the second distance threshold may be set larger so that the spraying drone 41 has enough time to decelerate around. When the flying speed of the spraying drone 41 is small, the first distance threshold and the second distance threshold may be set smaller.

In some embodiments, the method further comprises controlling the spraying drone to decelerate when the distance of the spraying drone relative to the obstacle is less than or equal to a second distance threshold, the second distance threshold being greater than the first distance threshold. As shown in fig. 12, when the spraying unmanned aerial vehicle 41 flies to the point a, the distance between the spraying unmanned aerial vehicle 41 and the obstacle 91 is the second distance threshold, and the spraying unmanned aerial vehicle 41 continues to fly forward, so that the distance between the spraying unmanned aerial vehicle 41 and the obstacle 91 is smaller than the second distance threshold, and therefore, from the point a, the flight controller can control the spraying unmanned aerial vehicle 41 to decelerate. Specifically, the navigation module calculates the speed limit value of the spraying unmanned aerial vehicle 41 according to the real-time distance between the spraying unmanned aerial vehicle 41 and the obstacle 91, generates a speed limit instruction according to the speed limit value, and sends the speed limit instruction to the flight controller, so that the flight controller controls the spraying unmanned aerial vehicle 41 to decelerate according to the speed limit value in the speed limit instruction.

Optionally, the method further includes: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a second distance threshold value, second state information of the spraying unmanned aerial vehicle ready for obstacle avoidance is sent to a ground control end corresponding to the spraying unmanned aerial vehicle, and the second distance threshold value is larger than the first distance threshold value.

As shown in fig. 12, when the spraying drone 41 flies to the point a, the distance of the spraying drone 41 relative to the obstacle 91 is a second distance threshold, and the spraying drone 41 continues to fly forward, so that the distance of the spraying drone 41 relative to the obstacle 91 is less than the second distance threshold. When the distance between the spraying unmanned aerial vehicle 41 and the obstacle 91 is less than or equal to the second distance threshold, the spraying unmanned aerial vehicle 41 sends the second state information that the spraying unmanned aerial vehicle 41 is ready to avoid the obstacle to the ground control end. When the ground control end receives the second status information, the application program in the ground control end may display a "ready to avoid obstacle" pop-up box in the user interface shown in fig. 14, and/or prompt the spraying drone 41 to be in a "ready to avoid obstacle" status by voice.

Optionally, the unmanned aerial vehicle 41 is in a state of "ready to avoid an obstacle" in the process from the point a to the point B, and the unmanned aerial vehicle 41 is still in the operating flight segment 45 in the state of "ready to avoid an obstacle", and only the flight controller needs to control the unmanned aerial vehicle 41 to decelerate according to the speed limit instruction of the navigation module. In addition, in the process from the point a to the point B, the navigation module of the spraying drone 41 may update the global grid map in real time according to the detection data of the millimeter wave radar, for example, update the position information of the obstacle 91 in the global grid map. In addition, in the process from the point a to the point B, the spraying unmanned aerial vehicle 41 may also send obstacle information and a waypoint from the point a to the point B to the ground control terminal. The ground control end can display the barrier information sent by the spraying unmanned aerial vehicle 41 and the path point from the point A to the point B in real time.

This embodiment is through when spraying unmanned aerial vehicle when being less than or equal to first distance threshold value for the distance of barrier, control is sprayed unmanned aerial vehicle and is removed to the target from current operation course section and keep away the barrier route, avoids spraying unmanned aerial vehicle too early and keeps away the barrier route to the target and remove and lead to leaking spouting to unmanned aerial vehicle's operating efficiency has been improved. Through when spraying when unmanned aerial vehicle is less than or equal to the second distance threshold for the distance of barrier, control sprays unmanned aerial vehicle and slows down, and the second distance threshold is greater than first distance threshold, that is to say, before control sprays unmanned aerial vehicle and removes to the target and keep away the barrier route from current operation route section, control sprays unmanned aerial vehicle and slows down, can prevent to spray that unmanned aerial vehicle speed is too fast and can't remove to the target and keep away the barrier route from current operation route section. In addition, send to ground control end through spraying unmanned aerial vehicle and spray the first status information that the unmanned aerial vehicle is keeping away the barrier, prepare the second status information who keeps away the barrier for this ground control end can indicate the user to spray unmanned aerial vehicle's operation state, and convenience of customers knows the operation condition who sprays unmanned aerial vehicle, has improved user experience.

The embodiment of the invention provides an obstacle avoidance control method for a spraying unmanned aerial vehicle. Fig. 15 is a flowchart of an obstacle avoidance control method for a spraying drone according to another embodiment of the present invention. As shown in fig. 15, on the basis of the above embodiment, the determining, according to the digital map, a target obstacle avoidance path parallel to the current working route segment includes:

and S1501, determining a plurality of obstacle avoidance paths parallel to the current operation route section according to the digital map.

As shown in fig. 16, the current operation flight path of the spraying unmanned aerial vehicle 41 is the operation flight path 45, an obstacle 91 exists in the current operation flight path, and the navigation module can determine a plurality of obstacle avoidance paths parallel to the current operation flight path, that is, the operation flight path 45, according to the digital map established by the navigation module. The plurality of obstacle avoidance paths may specifically be an obstacle avoidance path 92, an obstacle avoidance path 93, an obstacle avoidance path 94, an obstacle avoidance path 95, an obstacle avoidance path 96, and an obstacle avoidance path 97 as shown in fig. 16. Optionally, a distance between adjacent obstacle avoidance paths in the plurality of obstacle avoidance paths is a preset distance. For example, the distance between obstacle avoidance path 92 and task route segment 45, the distance between obstacle avoidance path 93 and task route segment 45, and the distance between obstacle avoidance path 92 and obstacle avoidance path 93 are all equal, and so on.

Step S1502 determines the target obstacle avoidance path from the plurality of obstacle avoidance paths.

The navigation module may determine an obstacle avoidance path from the multiple obstacle avoidance paths as a target obstacle avoidance path, and optionally, the determining the target obstacle avoidance path from the multiple obstacle avoidance paths includes: and selecting an obstacle avoidance path which is closest to the current operation route segment and has no obstacle from the plurality of obstacle avoidance paths as the target obstacle avoidance path. For example, if the obstacle avoidance path 92 is the obstacle avoidance path closest to the current operating route segment and the obstacle avoidance path 92 has no obstacle, the navigation module may determine the obstacle avoidance path 92 as the target obstacle avoidance path. The target obstacle avoidance path 92 shown in fig. 16 is embodied as the target obstacle avoidance path 92 described in the above embodiments.

Optionally, the method further includes: and in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path, if an obstacle exists on the target obstacle avoidance road, controlling the spraying unmanned aerial vehicle to hover.

For example, when the spraying drone 41 moves according to the target obstacle avoidance path 92, if the navigation module and/or the flight controller determines that an obstacle exists on the target obstacle avoidance path 92, the flight controller may further control the spraying drone 41 to hover, that is, the spraying drone 41 fails to detour. Since the speed of the spraying unmanned aerial vehicle 41 needs to be smooth and the motion trajectory of the spraying unmanned aerial vehicle 41 may also need to be smooth in the process from the bypassing state to the hovering state of the spraying unmanned aerial vehicle 41, the process from the bypassing state to the hovering state of the spraying unmanned aerial vehicle 41 may be recorded as a bypassing interruption smooth state.

In addition, the spraying drone 41 may also send status information of the detour failure of the spraying drone 41 to the ground control end, and when the ground control end receives the status information, the application program in the ground control end may display a popup box of "detour failure, the spraying drone will hover" in the user interface shown in fig. 14.

The embodiment confirms a plurality of obstacle-avoiding paths parallel with the current operation flight path section through the digital map, select from a plurality of obstacle-avoiding paths that are closest to the current operation flight path section, and have no obstacle on it keep away the obstacle path as the target, can make when spraying unmanned aerial vehicle and keeping away the obstacle path to this target from the current operation flight path section and remove, avoid the obstacle with the shortest route of detouring, the efficiency of detouring that sprays unmanned aerial vehicle has not only been improved, simultaneously can also avoid spraying unmanned aerial vehicle and leak and spout, the operating efficiency that sprays unmanned aerial vehicle has been improved.

The embodiment of the invention provides an obstacle avoidance control method for a spraying unmanned aerial vehicle. Fig. 17 is a flowchart of an obstacle avoidance control method for a spraying drone according to another embodiment of the present invention. As shown in fig. 17, on the basis of the above embodiment, the controlling the spraying unmanned aerial vehicle to return to the current working route segment from the target obstacle avoidance path to continue to perform the spraying task includes:

step 1701, in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path, determining a target return path from the current position of the spraying unmanned aerial vehicle in the target obstacle avoidance path to the current operation route section.

As shown in fig. 18, when the spraying unmanned aerial vehicle 41 moves along the target obstacle avoidance path 92, the spraying unmanned aerial vehicle 41 may determine a target return path from the current position of the spraying unmanned aerial vehicle 41 in the target obstacle avoidance path 92 to the current working route segment, i.e., the working route segment 45. For example, the current position of the spraying drone 41 in the target obstacle avoidance path 92 is point a, the spraying drone 41 determines a target return path from point a to the working flight segment 45, and detects whether there is an obstacle in the target return path. Optionally, the spraying unmanned aerial vehicle 41 collects a plurality of waypoints in the target return route, and detects whether there is an obstacle on the plurality of waypoints through a digital map established by the navigation module. As shown in fig. 18, if there is an obstacle on the target return route from the point a to the working route segment 45, the spraying drone 41 continues to move forward along the target obstacle avoidance route 92. When the current position of the spraying unmanned aerial vehicle 41 in the target obstacle avoidance path 92 is the point b, the spraying unmanned aerial vehicle 41 determines a target return path from the point b to the operation return path segment 45, and detects whether an obstacle exists in the target return path, and a method for detecting the obstacle is consistent with the foregoing detection method, and is not repeated here.

Step 1702, when it is determined that no obstacle exists on the target return path, controlling the spraying unmanned aerial vehicle to return to the current working route segment from the current position in the target obstacle avoidance path along the target return path to continue to execute a spraying task.

It can be understood that, the in-process that sprays unmanned aerial vehicle 41 and move along target obstacle avoidance path 92 forward, the current position that sprays unmanned aerial vehicle 41 in this target obstacle avoidance path 92 changes in real time, and every change of current position that sprays unmanned aerial vehicle 41 in this target obstacle avoidance path 92 should spray unmanned aerial vehicle 41 and can determine a target return journey route. Eventually the spraying drone 41 may detect a target return path that is closest to the obstacle and without the obstacle.

As shown in fig. 18, the target return path from the point a to the working route segment 45 and the target return path from the point b to the working route segment 45 are all provided with obstacles, and the target return path from the point c to the working route segment 45 is just provided with no obstacles, at this time, the flight controller can control the spraying unmanned aerial vehicle 41 to continue to perform the spraying task from the point c along the target return path to the working route segment 45.

As shown in fig. 18, the curvatures of the target return path from the point a to the working course 45, the target return path from the point b to the working course 45, and the target return path from the point c to the working course 45 may be the same or different.

In addition, in other embodiments, during the forward movement of the spraying unmanned aerial vehicle 41 along the target obstacle avoidance path 92, a plurality of target return paths from the current position to the working flight 45 may be determined, as shown in fig. 19, when the spraying unmanned aerial vehicle 41 moves to the point a in the target obstacle avoidance path 92, the spraying unmanned aerial vehicle 41 may determine a plurality of target return paths from the point a to the working flight 45, determine one target return path without obstacles from the plurality of target return paths, and return to the working flight 45 along the target return path to continue the spraying task. If there is an obstacle on each of the target return paths from the point a to the working route segment 45, the unmanned aerial vehicle 41 may continue to move forward, determine a plurality of target return paths again at the next position, and determine one target return path without an obstacle again from the plurality of target return paths.

Optionally, the controlling the spraying unmanned aerial vehicle to return to the current operation route segment from the current position in the target obstacle avoidance path along the target return path to continue to perform the spraying task includes: controlling the spraying unmanned aerial vehicle to smoothly transit from the current position in the target obstacle avoidance path to the current operation route section along the target return path to continue to execute a spraying task.

As shown in fig. 18 or fig. 19, when the spraying drone 41 returns to the working flight segment 45 along the target return path from the current position in the target obstacle avoidance path 92, the flight controller may control the spraying drone 41 to smoothly transit from the current position to the working flight segment 45 along the target return path to continue to perform the spraying task.

Optionally, the method further includes: and after the spraying unmanned aerial vehicle returns to the current operation navigation line segment from the target obstacle avoidance path, sending third state information of successful obstacle avoidance of the spraying unmanned aerial vehicle to a ground control end corresponding to the spraying unmanned aerial vehicle.

As shown in fig. 12, when the spraying unmanned aerial vehicle 41 returns to the point E on the working flight segment 45 from the target obstacle avoidance path 92 and smoothes from the point E to the point F, the spraying unmanned aerial vehicle 41 sends the third status information that the spraying unmanned aerial vehicle 41 successfully avoids the obstacle to the corresponding ground control end. When the ground control end receives the third status information of successful obstacle avoidance sent by the spraying unmanned aerial vehicle 41, the application program in the ground control end may display "successful obstacle avoidance" in a pop-up frame manner in the user interface as shown in fig. 14. Optionally, when the spraying drone 41 returns to the point E on the operation route segment 45, the spraying drone 41 may further send the status information that the spraying drone 41 has navigated back to the corresponding ground control end, and the application program in the ground control end may display "navigated back" in the user interface as shown in fig. 14 by way of a pop-up box. As shown in fig. 12, when the spraying drone 41 starts to move from the point D on the target obstacle avoidance path 92 to the working flight segment 45, the spraying drone 41 may further send the state information that the spraying drone 41 is ready to return to the corresponding ground control end, and the application program in the ground control end may display "ready to return" in a pop-up frame manner in the user interface shown in fig. 14.

In addition, in the process that the spraying unmanned aerial vehicle 41 moves on the target obstacle avoidance path 92 and in the process that the spraying unmanned aerial vehicle 41 returns to the operation flight segment 45 from the target obstacle avoidance path 92, the spraying unmanned aerial vehicle 41 can send obstacle information to the ground control end in real time and spray the operation path of the spraying unmanned aerial vehicle 41.

As shown in fig. 12, in the process that the spraying unmanned aerial vehicle 41 moves from the point C to the point D on the target obstacle avoidance path 92, the spraying unmanned aerial vehicle 41 can send obstacle information to the ground control end in real time, an application program in the ground control end can display a radar map corresponding to the obstacle in the user interface according to the obstacle information, as shown in fig. 20, 91 in the radar map 142 represents the obstacle, and 41 represents the spraying unmanned aerial vehicle. In addition, the spraying drone 41 may also send the historical path and the waypoints to be run of the spraying drone 41 to the ground control end, and the application may display the historical path and the waypoints to be run of the spraying drone 41 in the user interface. For example, in the

radar map

142, 145 represents the historical path of the spraying

drone

41, and 146 represents the waypoints that the spraying drone 41 is to travel. Where the historical path 145 may correspond to the path from point B to point C as shown in fig. 12. The waypoints 146 to be traveled may correspond to waypoints on the target obstacle avoidance path 92 as shown in fig. 12, with the spraying drone 41 located between point C and point D on the target obstacle avoidance path 92. Alternatively, the historical path 145 and the waypoint to be traveled 146 are displayed in different colors in the user interface.

As shown in fig. 12, in the process that the spraying unmanned aerial vehicle 41 returns to the point E on the operation route segment 45 from the point D on the target obstacle avoidance path 92, the spraying unmanned aerial vehicle 41 may send obstacle information to the ground control end in real time, and an application program in the ground control end may display a radar map corresponding to the obstacle in the user interface according to the obstacle information, as shown in fig. 21, 91 in the radar map 142 represents the obstacle, and 41 represents the spraying unmanned aerial vehicle. In addition, the spraying drone 41 may also send the historical path and the waypoints to be run of the spraying drone 41 to the ground control end, and the application may display the historical path and the waypoints to be run of the spraying drone 41 in the user interface. For example, in the

radar map

142, 147 indicates the historical path of the spraying

drone

41, and 148 indicates the waypoints that the spraying drone 41 is to travel. Therein, the historical path 147 may correspond to the path from point C to point D as shown in FIG. 12. The waypoints 148 to be traveled may correspond to waypoints on the work leg 45 from point E as shown in fig. 12, with the spraying drone 41 located between point D and point E. Optionally, the historical path 147 and the waypoint 148 to be traveled are displayed in different colors in the user interface.

In the embodiment, in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path, a target return path from the current position of the spraying unmanned aerial vehicle in the target obstacle avoidance path to the current operation route segment is determined, and when it is determined that no obstacle exists on the target return path, the spraying unmanned aerial vehicle is controlled to return to the current operation route segment from the current position in the target obstacle avoidance path along the target return path to continue to execute the spraying task, so that after the spraying unmanned aerial vehicle avoids the obstacle, the spraying unmanned aerial vehicle returns to the current operation route segment through the shortest path to continue to execute the spraying task, so that the spraying unmanned aerial vehicle is prevented from missing spraying, and the operation efficiency of the spraying unmanned aerial vehicle is further improved.

The embodiment of the invention provides an obstacle avoidance control method for a spraying unmanned aerial vehicle. On the basis of the above embodiment, when the flight controller of the spraying unmanned aerial vehicle executes the autonomous spraying task, the flight controller may push a plurality of adjacent waypoints to the navigation module in real time, as shown in fig. 22, the flight controller may push 6 adjacent waypoints to the navigation module in real time, where the 6 waypoints are waypoint 0, waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5. The flight controller can push the state identifiers of the 6 waypoints while pushing the 6 waypoints to the navigation module, for example, waypoint 0 and waypoint 1 correspond to a first state identifier, and the first state identifier indicates that the operating route section from waypoint 0 to waypoint 1 is the historical operating route section of the spraying unmanned aerial vehicle. Waypoint 2 and waypoint 3 correspond to a second state identifier, and the second state identifier indicates that the operating flight segment from waypoint 2 to waypoint 3 is the current operating flight segment of the spraying unmanned aerial vehicle. Waypoint 4 and waypoint 5 correspond to a third status indication that the operational leg from waypoint 4 to waypoint 5 is the next operational leg of the spraying drone. The navigation module can determine the historical movement track and the subsequent movement track of the spraying unmanned aerial vehicle according to the plurality of waypoints pushed by the flight controller and the state identification of each waypoint. When the obstacle exists in the current operation route segment of the spraying unmanned aerial vehicle, the spraying unmanned aerial vehicle determines a target obstacle avoidance path parallel to the current operation route segment according to the digital map in the embodiment, and bypasses and avoids the obstacle through the target obstacle avoidance path.

In some embodiments, the starting operation waypoint for the spraying drone may not be waypoint 0 as shown in fig. 22, but waypoint 3 as shown in fig. 23, at which time the spraying drone needs to fly from waypoint 2 to waypoint 3, beginning with waypoint 3 to perform the spraying task. At this point, waypoint 0 and waypoint 1 pushed by the flight controller to the navigation module may be considered invalid. When an obstacle appears in a route section from the waypoint 2 to the waypoint 3, the spraying unmanned aerial vehicle can also determine a target obstacle avoidance path parallel to the route section according to the digital map in the embodiment, and detour to avoid the obstacle through the target obstacle avoidance path. The specific bypassing and obstacle avoiding process is consistent with the above embodiment, and is not described herein again.

In other embodiments, when the spraying unmanned aerial vehicle performs a spraying task, the operation may be interrupted due to insufficient power, insufficient sprayed objects, and the like, at this time, the spraying unmanned aerial vehicle needs to return to the Home point from the interrupted operation waypoint to charge or load the sprayed objects, and return to the interrupted operation waypoint from the Home point to continue to perform a subsequent spraying task. As shown in fig. 24, waypoint 3 represents an operation interruption waypoint, waypoint 2 represents a Home point, and when the unmanned spraying vehicle returns from waypoint 2 to waypoint 3, if an obstacle appears in a route segment from waypoint 2 to waypoint 3, the unmanned spraying vehicle may determine a target obstacle avoidance path parallel to the route segment according to the digital map in the above embodiment, and detour and avoid an obstacle through the target obstacle avoidance path. The specific bypassing and obstacle avoiding process is consistent with the above embodiment, and is not described herein again.

In addition, as shown in fig. 25, if the 6 waypoints pushed by the flight controller to the navigation module are waypoint 0, waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5, but the working route segment from waypoint 2 to waypoint 3 is already the last route segment, waypoint 4 and waypoint 5 may be considered invalid when the spraying drone works to the working route segment from waypoint 2 to waypoint 3.

That is to say, the obstacle avoidance control method described in this embodiment is not only suitable for obstacle avoidance and detour of the spraying unmanned aerial vehicle in the process of executing the spraying task in the current operation route segment, but also suitable for obstacle avoidance and detour of the spraying unmanned aerial vehicle from the Home point to the operation route point.

The embodiment of the invention provides an obstacle avoidance control device of a spraying unmanned aerial vehicle. The obstacle avoidance control device may specifically be the navigation module and/or the flight controller in the above embodiments. The unmanned spraying machine is provided with a detection device, and the detection device is used for detecting obstacles. Fig. 26 is a structural diagram of an obstacle avoidance control device according to an embodiment of the present invention, and as shown in fig. 26, an obstacle avoidance control device 260 includes: memory 261, processor 262, and communication interface 263. Wherein, the memory 261 is used for storing program codes; the processor 262 invokes the program code, which when executed, performs the following: acquiring detection data output by detection equipment in the process that the spraying unmanned aerial vehicle executes a spraying task according to an operation route, wherein the operation route comprises a plurality of operation route segments; establishing a digital map according to the detection data; in the process that the spraying unmanned aerial vehicle executes a spraying task according to the current operation route section in the operation route sections, if the current operation route section is determined to have an obstacle, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map; controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment, and controlling the spraying unmanned aerial vehicle to move according to the target obstacle avoidance path; and after the obstacle is determined to be avoided, controlling the spraying unmanned aerial vehicle to return to the current operation route section from the target obstacle avoidance path to continue to execute a spraying task.

Optionally, when the processor 262 controls the spraying unmanned aerial vehicle to move from the current operation route segment to the target obstacle avoidance path, the processor 262 is specifically configured to: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a first distance threshold value, controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment.

Optionally, the processor 262 is further configured to: in the process that the spraying unmanned aerial vehicle moves from the current operation route segment to the target obstacle avoidance path, the head orientation of the spraying unmanned aerial vehicle is adjusted to a first target orientation so as to adjust the detection direction of the detection equipment, wherein the first target orientation is the direction which is pointed to by the current operation route segment to the target obstacle avoidance path and forms a first preset included angle with the current operation route segment.

Optionally, the obstacle avoidance control device further includes a communication interface; processor 262 is also configured to: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to the first distance threshold, sending first state information that the spraying unmanned aerial vehicle is avoiding the obstacle to a ground control end corresponding to the spraying unmanned aerial vehicle through a communication interface 263.

Optionally, if it is determined that an obstacle exists on the current operation route segment, when the processor 262 determines, according to the digital map, a target obstacle avoidance path parallel to the current operation route segment, the method is specifically configured to: if the obstacle exists on the current operation route segment, determining the distance between the obstacle existing on the current operation route segment and the spraying unmanned aerial vehicle; if the distance is larger than a first distance threshold and smaller than a second distance threshold, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map; wherein the second distance threshold is greater than the first distance threshold.

Optionally, if it is determined that an obstacle exists on the current operation route segment, when the processor 262 determines, according to the digital map, a target obstacle avoidance path parallel to the current operation route segment, the method is specifically configured to: and if the obstacle exists on the current operation route segment according to the detection data of the detection equipment and/or the digital map, determining a target obstacle avoidance path parallel to the current operation route segment according to the digital map.

Optionally, the processor 262 is further configured to: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a second distance threshold value, controlling the spraying unmanned aerial vehicle to decelerate, wherein the second distance threshold value is larger than the first distance threshold value.

Optionally, the processor 262 is further configured to: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a second distance threshold value, second state information of the spraying unmanned aerial vehicle ready for obstacle avoidance is sent to a ground control end corresponding to the spraying unmanned aerial vehicle, and the second distance threshold value is larger than the first distance threshold value.

Optionally, when the processor 262 determines the target obstacle avoidance path parallel to the current operation route segment according to the digital map, the processor 262 is specifically configured to: determining a plurality of obstacle avoidance paths parallel to the current operation route section according to the digital map; determining the target obstacle avoidance path from the plurality of obstacle avoidance paths.

Optionally, when the processor 262 determines the target obstacle avoidance path from the multiple obstacle avoidance paths, the processor 262 is specifically configured to: and selecting an obstacle avoidance path which is closest to the current operation route segment and has no obstacle from the plurality of obstacle avoidance paths as the target obstacle avoidance path.

Optionally, a distance between adjacent obstacle avoidance paths in the plurality of obstacle avoidance paths is a preset distance.

Optionally, the processor 262 is further configured to: and in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path, if an obstacle exists on the target obstacle avoidance road, controlling the spraying unmanned aerial vehicle to hover.

Optionally, when the processor 262 controls the spraying unmanned aerial vehicle to return to the current operation route segment from the target obstacle avoidance path to continue to execute the spraying task, the processor 262 is specifically configured to: determining a target return path from the current position of the spraying unmanned aerial vehicle in the target obstacle avoidance path to the current operation navigation line segment in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path; when it is determined that no obstacle exists on the target return path, controlling the spraying unmanned aerial vehicle to return to the current operation route segment from the current position in the target obstacle avoidance path along the target return path to continue to execute a spraying task.

Optionally, the processor 262 is further configured to: in the process that the spraying unmanned aerial vehicle moves from the target obstacle avoidance path to the current operation flight segment, the head orientation of the spraying unmanned aerial vehicle is adjusted to a second target orientation so as to adjust the detection direction of the detection equipment, wherein the second target orientation is the direction which is pointed to the current operation flight segment by the target obstacle avoidance path and forms a second preset included angle with the current operation flight segment.

Optionally, when the processor 262 controls the spraying unmanned aerial vehicle to return to the current operation route segment from the current position in the target obstacle avoidance route along the target return route to continue to execute the spraying task, the processor 262 is specifically configured to: controlling the spraying unmanned aerial vehicle to smoothly transit from the current position in the target obstacle avoidance path to the current operation route section along the target return path to continue to execute a spraying task.

Optionally, the processor 262 is further configured to: and after the spraying unmanned aerial vehicle returns to the current operation route section from the target obstacle avoidance path, sending third state information of successful obstacle avoidance of the spraying unmanned aerial vehicle to a ground control end corresponding to the spraying unmanned aerial vehicle through a communication interface 263.

Optionally, the detection data includes at least one of: the size of the obstacle, the distance and the direction of the obstacle relative to the spraying unmanned aerial vehicle.

The specific principle and implementation of the obstacle avoidance control device provided by the embodiment of the present invention are similar to those of the above embodiments, and are not described herein again.

The embodiment of the invention provides a spraying unmanned aerial vehicle. Fig. 27 is a structural diagram of a spraying unmanned aerial vehicle provided in an embodiment of the present invention, and as shown in fig. 27, a spraying unmanned aerial vehicle 270 includes: fuselage, driving system, detection equipment 271 and obstacle avoidance control device 272, driving system includes at least one of following: a motor 273, a propeller 274 and an electronic governor 275, a power system is mounted to the fuselage for providing flight power; the obstacle avoidance control device 272 may specifically be a navigation module and/or a flight controller in the above embodiment, and the specific principle and implementation of the obstacle avoidance control device 272 are similar to those of the above embodiment, and are not described herein again.

In addition, as shown in fig. 27, the spraying drone 270 further includes: a communication module 277, wherein the communication module 277 is used for communicating with the ground control end.

Optionally, the spraying unmanned aerial vehicle is an agricultural unmanned aerial vehicle.

In addition, the present embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the obstacle avoidance control method for a spraying unmanned aerial vehicle described in the foregoing embodiment.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of 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, devices or units, and may be in an electrical, mechanical 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 network 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 invention 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, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

An obstacle avoidance control method for a spraying unmanned aerial vehicle, the spraying unmanned aerial vehicle being provided with a detection device for detecting obstacles, the method comprising:

acquiring detection data output by detection equipment in the process that the spraying unmanned aerial vehicle executes a spraying task according to an operation route, wherein the operation route comprises a plurality of operation route segments;

establishing a digital map according to the detection data;

in the process that the spraying unmanned aerial vehicle executes a spraying task according to the current operation route section in the operation route sections, if the current operation route section is determined to have an obstacle, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map;

controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment, and controlling the spraying unmanned aerial vehicle to move according to the target obstacle avoidance path;

and after the obstacle is determined to be avoided, controlling the spraying unmanned aerial vehicle to return to the current operation route section from the target obstacle avoidance path to continue to execute a spraying task.
The method of claim 1, wherein the controlling the spraying drone to move from the current operating leg to the target obstacle avoidance path comprises:

when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a first distance threshold value, controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment.
The method according to claim 1 or 2, characterized in that the method further comprises:

in the process that the spraying unmanned aerial vehicle moves from the current operation route segment to the target obstacle avoidance path, the head orientation of the spraying unmanned aerial vehicle is adjusted to a first target orientation so as to adjust the detection direction of the detection equipment, wherein the first target orientation is the direction which is pointed to by the current operation route segment to the target obstacle avoidance path and forms a first preset included angle with the current operation route segment.
The method according to any one of claims 1-3, further comprising:

when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a first distance threshold value, first state information that the spraying unmanned aerial vehicle is avoiding the obstacle is sent to a ground control end corresponding to the spraying unmanned aerial vehicle.
The method as claimed in claim 2 or 4, wherein if it is determined that an obstacle exists on the current operation route segment, determining a target obstacle avoidance path parallel to the current operation route segment according to the digital map comprises:

if the obstacle exists on the current operation route segment, determining the distance between the obstacle existing on the current operation route segment and the spraying unmanned aerial vehicle;

if the distance is larger than a first distance threshold and smaller than a second distance threshold, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map;

wherein the second distance threshold is greater than the first distance threshold.
The method according to any one of claims 1 to 5, wherein the determining a target obstacle avoidance path parallel to the current working route section according to the digital map if it is determined that an obstacle exists on the current working route section comprises:

and if the obstacle exists on the current operation route segment according to the detection data of the detection equipment and/or the digital map, determining a target obstacle avoidance path parallel to the current operation route segment according to the digital map.
A method according to claim 2 or 3, characterized in that the method further comprises:

when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a second distance threshold value, the spraying unmanned aerial vehicle is controlled to decelerate, and the second distance threshold value is larger than the first distance threshold value.
The method according to any one of claims 2, 3 and 7, further comprising:

when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a second distance threshold value, second state information of the spraying unmanned aerial vehicle ready for obstacle avoidance is sent to the ground control end corresponding to the spraying unmanned aerial vehicle, and the second distance threshold value is larger than the first distance threshold value.
The method of any one of claims 1-8, wherein determining the target obstacle avoidance path parallel to the current working route segment from the digital map comprises:

determining a plurality of obstacle avoidance paths parallel to the current operation route section according to the digital map;

determining the target obstacle avoidance path from the plurality of obstacle avoidance paths.
The method of claim 9, wherein the determining the target obstacle avoidance path from the plurality of obstacle avoidance paths comprises:

and selecting an obstacle avoidance path which is closest to the current operation route segment and has no obstacle from the plurality of obstacle avoidance paths as the target obstacle avoidance path.
The method according to claim 9 or 10, wherein a distance between adjacent obstacle avoidance paths of the plurality of obstacle avoidance paths is a preset distance.
The method according to any one of claims 1-11, further comprising:

and in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path, if an obstacle exists on the target obstacle avoidance road, controlling the spraying unmanned aerial vehicle to hover.
The method of any of claims 1-12, wherein said controlling the spraying drone to proceed with spraying tasks from the target obstacle avoidance path back to the current working route segment comprises:

determining a target return path from the current position of the spraying unmanned aerial vehicle in the target obstacle avoidance path to the current operation navigation line segment in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path;

when it is determined that no obstacle exists on the target return path, controlling the spraying unmanned aerial vehicle to return to the current operation route segment from the current position in the target obstacle avoidance path along the target return path to continue to execute a spraying task.
The method according to any one of claims 1-13, further comprising:

in the process that the spraying unmanned aerial vehicle moves from the target obstacle avoidance path to the current operation flight segment, the head orientation of the spraying unmanned aerial vehicle is adjusted to a second target orientation so as to adjust the detection direction of the detection equipment, wherein the second target orientation is the direction which is pointed to the current operation flight segment by the target obstacle avoidance path and forms a second preset included angle with the current operation flight segment.
The method of claim 13 or 14, wherein said controlling the spraying drone to continue performing spraying tasks from the current position in the target obstacle avoidance path back to the current working route segment along the target return path comprises:

controlling the spraying unmanned aerial vehicle to smoothly transit from the current position in the target obstacle avoidance path to the current operation route section along the target return path to continue to execute a spraying task.
The method according to any one of claims 1-15, further comprising:

and after the spraying unmanned aerial vehicle returns to the current operation navigation line segment from the target obstacle avoidance path, sending third state information of successful obstacle avoidance of the spraying unmanned aerial vehicle to a ground control end corresponding to the spraying unmanned aerial vehicle.
The method of any of claims 1-16, wherein the spraying drone is an agricultural drone.
The method of any one of claims 1-17, wherein the probe data includes at least one of:

the size of the obstacle, the distance and the direction of the obstacle relative to the spraying unmanned aerial vehicle.
The utility model provides a spray unmanned aerial vehicle keep away barrier controlling means, it is provided with detecting equipment to spray unmanned aerial vehicle, detecting equipment is used for surveying the barrier, its characterized in that, keep away barrier controlling means and include: a memory and a processor;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

acquiring detection data output by detection equipment in the process that the spraying unmanned aerial vehicle executes a spraying task according to an operation route, wherein the operation route comprises a plurality of operation route segments;

establishing a digital map according to the detection data;

in the process that the spraying unmanned aerial vehicle executes a spraying task according to the current operation route section in the operation route sections, if the current operation route section is determined to have an obstacle, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map;

controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment, and controlling the spraying unmanned aerial vehicle to move according to the target obstacle avoidance path;

and after the obstacle is determined to be avoided, controlling the spraying unmanned aerial vehicle to return to the current operation route section from the target obstacle avoidance path to continue to execute a spraying task.
An obstacle avoidance control device according to claim 19, wherein the processor is configured to control the spraying drone to move from the current operating route segment to the target obstacle avoidance path, and is specifically configured to:

when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a first distance threshold value, controlling the spraying unmanned aerial vehicle to move to the target obstacle avoidance path from the current operation route segment.
An obstacle avoidance control device according to claim 19 or 20, wherein said processor is further configured to:

in the process that the spraying unmanned aerial vehicle moves from the current operation route segment to the target obstacle avoidance path, the head orientation of the spraying unmanned aerial vehicle is adjusted to a first target orientation so as to adjust the detection direction of the detection equipment, wherein the first target orientation is the direction which is pointed to by the current operation route segment to the target obstacle avoidance path and forms a first preset included angle with the current operation route segment.
An obstacle avoidance control device according to any one of claims 19 to 21, further comprising a communication interface;

the processor is further configured to: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a first distance threshold value, first state information that the spraying unmanned aerial vehicle is avoiding the obstacle is sent to the ground control end corresponding to the spraying unmanned aerial vehicle through the communication interface.
An obstacle avoidance control device according to claim 20 or 22, wherein if it is determined that an obstacle exists on the current working route segment, the processor is specifically configured to, when determining, according to the digital map, a target obstacle avoidance path parallel to the current working route segment:

if the obstacle exists on the current operation route segment, determining the distance between the obstacle existing on the current operation route segment and the spraying unmanned aerial vehicle;

if the distance is larger than a first distance threshold and smaller than a second distance threshold, determining a target obstacle avoidance path parallel to the current operation route section according to the digital map;

wherein the second distance threshold is greater than the first distance threshold.
An obstacle avoidance control device according to any one of claims 19 to 23, wherein if it is determined that an obstacle exists on the current working route segment, the processor is specifically configured to, when determining, according to the digital map, a target obstacle avoidance path parallel to the current working route segment:

and if the obstacle exists on the current operation route segment according to the detection data of the detection equipment and/or the digital map, determining a target obstacle avoidance path parallel to the current operation route segment according to the digital map.
An obstacle avoidance control device according to claim 20 or 21, wherein said processor is further configured to: when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a second distance threshold value, the spraying unmanned aerial vehicle is controlled to decelerate, and the second distance threshold value is larger than the first distance threshold value.
An obstacle avoidance control device according to any one of claims 20, 21 and 25, wherein said processor is further configured to:

when the distance between the spraying unmanned aerial vehicle and the obstacle is smaller than or equal to a second distance threshold value, second state information of the spraying unmanned aerial vehicle ready for obstacle avoidance is sent to the ground control end corresponding to the spraying unmanned aerial vehicle, and the second distance threshold value is larger than the first distance threshold value.
An obstacle avoidance control device according to any one of claims 19 to 26, wherein the processor, when determining the target obstacle avoidance path parallel to the current working route section from the digital map, is specifically configured to:

determining a plurality of obstacle avoidance paths parallel to the current operation route section according to the digital map;

determining the target obstacle avoidance path from the plurality of obstacle avoidance paths.
An obstacle avoidance control device according to claim 27, wherein the processor, when determining the target obstacle avoidance path from the plurality of obstacle avoidance paths, is specifically configured to:

and selecting an obstacle avoidance path which is closest to the current operation route segment and has no obstacle from the plurality of obstacle avoidance paths as the target obstacle avoidance path.
An obstacle avoidance control device according to claim 27 or 28, wherein a distance between adjacent ones of the plurality of obstacle avoidance paths is a preset distance.
An obstacle avoidance control device according to any one of claims 19 to 29, wherein said processor is further configured to:

and in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path, if an obstacle exists on the target obstacle avoidance road, controlling the spraying unmanned aerial vehicle to hover.
An obstacle avoidance control device according to any one of claims 19 to 30, wherein the processor is configured to control the spraying drone to continue to perform the spraying task from the target obstacle avoidance path back to the current operating route segment, and is specifically configured to:

determining a target return path from the current position of the spraying unmanned aerial vehicle in the target obstacle avoidance path to the current operation navigation line segment in the process that the spraying unmanned aerial vehicle moves according to the target obstacle avoidance path;

when it is determined that no obstacle exists on the target return path, controlling the spraying unmanned aerial vehicle to return to the current operation route segment from the current position in the target obstacle avoidance path along the target return path to continue to execute a spraying task.
An obstacle avoidance control device according to any one of claims 19 to 31, wherein said processor is further configured to:

in the process that the spraying unmanned aerial vehicle moves from the target obstacle avoidance path to the current operation flight segment, the head orientation of the spraying unmanned aerial vehicle is adjusted to a second target orientation so as to adjust the detection direction of the detection equipment, wherein the second target orientation is the direction which is pointed to the current operation flight segment by the target obstacle avoidance path and forms a second preset included angle with the current operation flight segment.
An obstacle avoidance control device according to claim 31 or 32, wherein the processor controls the spraying drone to continue to perform the spraying task from the current position in the target obstacle avoidance path back to the current working route segment along the target return route, in particular to:

controlling the spraying unmanned aerial vehicle to smoothly transit from the current position in the target obstacle avoidance path to the current operation route section along the target return path to continue to execute a spraying task.
An obstacle avoidance control device according to any one of claims 19 to 33, further comprising: a communication interface;

the processor is further configured to:

and after the spraying unmanned aerial vehicle returns to the current operation route section from the target obstacle avoidance path, sending third state information of successful obstacle avoidance of the spraying unmanned aerial vehicle to a ground control end corresponding to the spraying unmanned aerial vehicle through the communication interface.
An obstacle avoidance control device according to any one of claims 19 to 34, wherein said detection data includes at least one of:

the size of the obstacle, the distance and the direction of the obstacle relative to the spraying unmanned aerial vehicle.
A spraying unmanned aerial vehicle, its characterized in that includes:

a body;

the power system is arranged on the fuselage and used for providing flight power;

a detection device for detecting an obstacle; and

an obstacle avoidance control apparatus according to any one of claims 19 to 35.
The spraying drone of claim 36, wherein the spraying drone is an agricultural drone.
A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-18.