CN111750857B

CN111750857B - Route generation method, route generation device, terminal and storage medium

Info

Publication number: CN111750857B
Application number: CN201911018923.9A
Authority: CN
Inventors: 郑立强
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2019-10-24
Filing date: 2019-10-24
Publication date: 2021-12-28
Anticipated expiration: 2039-10-24
Also published as: CN111750857A

Abstract

The application relates to the technical field of unmanned operation, and provides a route generation method, a route generation device, a route generation terminal and a storage medium, wherein the method comprises the following steps: acquiring a region to be operated and position information of all target objects in the region to be operated; acquiring a region division parameter, and dividing a region to be operated into at least one sub-region including a target object according to the region division parameter; and generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, wherein the transition route is connected with all the target objects in the sub-area. Compared with the prior art, the method and the device have the advantages that the transition route of each sub-area can be generated only by inputting the area division parameters by the user, so that manual participation is reduced, and the operation efficiency of the unmanned operation equipment is effectively improved.

Description

Route generation method, route generation device, terminal and storage medium

Technical Field

The application relates to the technical field of unmanned operation, in particular to a route generation method, a route generation device, a route generation terminal and a storage medium.

Background

In recent years, unmanned working equipment is applied to more and more fields such as agriculture, military, industry, and the like. In the agricultural field, compare in traditional mode, unmanned operation equipment has huge advantage in the aspects such as pesticide spraying and pest control.

At present, when unmanned operation equipment is used for operating economic trees (such as fruit trees and the like), due to the characteristics of the economic trees (such as luxuriant density, certain distance between crops and the like), the requirement of a user for operating each economic tree in place cannot be met by adopting a common back-and-forth route, and therefore, a route more suitable for the economic trees needs to be planned to improve the operation effect of the unmanned operation equipment on the economic trees.

In the prior art, for the operation of economic trees, two ways are mainly used for generating a flight path, namely, a user carries out manual surveying and mapping on each economic tree and generates a flight path according to the surveying and mapping sequence; and secondly, manually selecting economic trees needing to be operated by a user, and then generating a route. Both of these two methods require a lot of work by the user, and consume a lot of time and manpower, so the efficiency of the plant protection operation cannot be guaranteed.

Disclosure of Invention

The application aims to provide a route generation method, a route generation device, a route generation terminal and a storage medium, which are used for solving the problem that a great amount of manual participation is needed when a route is generated in the prior art and improving the operation efficiency of unmanned operation equipment.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, the present application provides a method for generating a route, the method comprising: acquiring a region to be operated and position information of all target objects in the region to be operated; acquiring a region division parameter, and dividing the region to be operated into at least one sub-region including a target object according to the region division parameter; and generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, wherein the transition route is connected with all the target objects in the sub-area.

Optionally, the region division parameter includes at least one preset included angle and at least one preset distance; the step of dividing the area to be operated into at least one sub-area including the target object according to the area division parameter includes: acquiring any one point of the area to be operated, and establishing a horizontal coordinate system by taking the point as an origin; generating a plurality of boundary lines in the area to be operated according to at least one preset included angle, at least one preset distance and a ground horizontal coordinate system established for the area to be operated; and dividing the area to be operated into at least one sub-area comprising the target object according to the plurality of dividing lines, wherein the area boundary of the sub-area is two adjacent dividing lines.

Optionally, the included angle between each boundary line and the same coordinate axis in the horizontal coordinate system is the same as the preset included angle, and the distance between two adjacent boundary lines is the same as the preset distance.

Optionally, the equation of the boundary line is y ═ tan (α) x + kd, where k ═ … -2, -1,0,1,2 …, α is the preset included angle, d is the preset distance, and x and y are the abscissa and ordinate of each point on the boundary line.

Optionally, the step of generating a transition route of each sub-region according to the position information of all the target objects in each sub-region includes: calculating the projection distance from each target object in the sub-region to the same region boundary of the sub-region; determining the operation sequence of all the target objects in the sub-area according to the projection distance corresponding to each target object; and connecting all the target objects in the sub-area according to the operation sequence to obtain a transition route corresponding to the sub-area.

Optionally, the step of calculating the projection distance from each target object in the sub-region to the same region boundary of the sub-region includes: acquiring a first intersection point coordinate and a second intersection point coordinate of the boundary line of the region boundary and the region to be operated; determining a first vector parallel to the region boundary according to the first intersection point coordinate and the second intersection point coordinate; determining a second vector intersected with the region boundary according to the first intersection point coordinate and the position information of the target object; and calculating the projection distance from the target object to the region boundary according to a preset formula according to the first vector and the second vector.

Optionally, the method further comprises: determining a target sub-region from at least one of the sub-regions in response to a region selection instruction; and generating an operation route of the target sub-region according to the transition route corresponding to the target sub-region, and sending the operation route to unmanned operation equipment so that the unmanned operation equipment operates the target sub-region according to the operation route, wherein the operation route comprises an entering route, a transition route and a returning route.

Optionally, when the number of the sub-areas is one, according to a transition route corresponding to the sub-area, an operation route of the sub-area is generated and sent to the unmanned operation equipment, so that the unmanned operation equipment operates the sub-area according to the operation route, and the operation route comprises an entering route, a transition route and a returning route.

Optionally, the step of obtaining the area to be operated and the position information of all the target objects in the area to be operated includes: acquiring a three-dimensional map; responding to a selection instruction, and determining a region to be operated from the three-dimensional map; and acquiring the position information of all the target objects in the area to be operated.

In a second aspect, the present application further provides a route generation device, where the device includes an acquisition module, a region division module, and a route generation module. The acquisition module is used for acquiring a region to be operated and position information of all target objects in the region to be operated; the region dividing module is used for acquiring region dividing parameters and dividing the region to be operated into at least one sub-region including a target object according to the region dividing parameters; and the route generation module is used for generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, and the transition route is connected with all the target objects in the sub-areas.

Optionally, the region division parameter includes at least one preset included angle and at least one preset distance; the region division module is specifically configured to: acquiring any one point of the area to be operated, and establishing a horizontal coordinate system by taking the point as an origin; generating a plurality of boundary lines in the area to be operated according to at least one preset included angle, at least one preset distance and a ground horizontal coordinate system established for the area to be operated; and dividing the area to be operated into at least one sub-area comprising the target object according to the plurality of dividing lines, wherein the area boundary of the sub-area is two adjacent dividing lines.

Optionally, the route generation module is specifically configured to: calculating the projection distance from each target object in the sub-region to the same region boundary of the sub-region; determining the operation sequence of all the target objects in the sub-area according to the projection distance corresponding to each target object; and connecting all the target objects in the sub-area according to the operation sequence to obtain a transition route corresponding to the sub-area.

Optionally, the route generation module executes a manner of calculating the projection distance of each target object in the sub-region to the same region boundary of the sub-region, including: acquiring a first intersection point coordinate and a second intersection point coordinate of the boundary line of the region boundary and the region to be operated; determining a first vector parallel to the region boundary according to the first intersection point coordinate and the second intersection point coordinate; determining a second vector intersected with the region boundary according to the first intersection point coordinate and the position information of the target object; and calculating the projection distance from the target object to the region boundary according to a preset formula according to the first vector and the second vector.

Optionally, the route generation module is further configured to: determining a target subregion from a plurality of subregions; and generating an operation route of the target sub-region according to the transition route corresponding to the target sub-region, and sending the operation route to unmanned operation equipment so that the unmanned operation equipment operates the target sub-region according to the operation route, wherein the operation route comprises an entering route, a transition route and a returning route.

Optionally, the route generation module is further configured to: when the number of the sub-areas is one, generating an operation air route of the sub-area according to a transition air route corresponding to the sub-area, and sending the operation air route to unmanned operation equipment so that the unmanned operation equipment operates the sub-area according to the operation air route, wherein the operation air route comprises an entering air route, a transition air route and a returning air route. Optionally, the obtaining module is specifically configured to: acquiring a three-dimensional map; responding to a selection instruction, and determining a region to be operated from the three-dimensional map; and acquiring the position information of all the target objects in the area to be operated.

In a third aspect, the present application further provides a terminal, where the terminal includes: one or more processors; memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the lane generation method described above.

In a fourth aspect, the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the lane generation method described above.

Compared with the prior art, according to the lane generation method, the lane generation device, the lane generation terminal and the lane generation storage medium, when a lane is generated, the position information of a to-be-operated area and all target objects in the to-be-operated area is determined, then area division parameters input by a user are obtained, the to-be-operated area is divided into at least one sub-area according to the area division parameters, each sub-area comprises the target objects, finally, transition lanes connecting all the target objects in the sub-area are generated according to the position information of all the target objects in the sub-area, and one sub-area corresponds to one transition lane. Compared with the prior art, the method and the device have the advantages that the transition route of each sub-area can be generated only by inputting the area division parameters by the user, so that manual participation is reduced, and the operation efficiency of the unmanned operation equipment is effectively improved.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram illustrating an application scenario of a route generation method provided by an embodiment of the present application.

FIG. 2 is a flow chart diagram illustrating a route generation method according to an embodiment of the present disclosure.

FIG. 3 is a schematic flow chart illustrating a route generation method according to an embodiment of the present disclosure.

FIG. 4 is a diagram illustrating an application example of the lane generation method provided by the embodiment of the application.

FIG. 5 is a diagram illustrating another application example of the lane generation method provided by the embodiment of the application.

FIG. 6 is a schematic flow chart illustrating a route generation method according to an embodiment of the present disclosure.

FIG. 7 is a diagram illustrating another application example of the lane generation method provided by the embodiment of the present application.

FIG. 8 is a schematic flow chart diagram illustrating a route generation method provided by an embodiment of the present application.

FIG. 9 is a diagram illustrating another application example of the lane generation method provided by the embodiment of the present application.

FIG. 10 is a diagram illustrating another application example of the lane generation method provided by the embodiment of the present application.

FIG. 11 is a block diagram illustrating a route generation apparatus provided in an embodiment of the present application.

Fig. 12 shows a block diagram of a terminal provided in an embodiment of the present application.

Icon: 10-a terminal; 11-a processor; 12-a storage medium; 13-a bus; 100-a route generation device; 101-an acquisition module; 102-a region division module; 103-route generation module.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Unmanned working equipment includes unmanned aerial vehicles, unmanned ships, unmanned vehicles, etc., for example, an unmanned aerial vehicle is an unmanned aerial vehicle operated by a radio remote control device and a self-contained program control device, and currently, unmanned aerial vehicles are widely used in various fields, such as agriculture, military, industry, etc. Compared with a piloted aircraft, the unmanned aerial vehicle has the advantages of small volume, relatively low manufacturing cost, convenience in control and the like, and is commonly used for aerial photography, plant protection operation, environment monitoring, disaster patrol and the like.

In the plant protection operation, the unmanned operation equipment can be used for effectively saving manpower, the efficiency of the plant protection operation is improved, the two modes of plant protection operation of the unmanned operation equipment under manual control and plant protection operation of the unmanned operation equipment under automatic execution according to the air route are generally adopted, obviously, compared with the mode that the plant protection operation of the unmanned operation equipment under manual control, the plant protection operation of the unmanned operation equipment under automatic execution according to the air route can greatly improve the operation efficiency, and the precision is higher. Accordingly, to implement plant protection work for economic trees (e.g., fruit trees, etc.) using unmanned working equipment, a transition route needs to be planned for a sub-area. In the prior art, a large amount of work is required for a user when planning a flight path, so that a large amount of time and manpower are consumed, and the efficiency of plant protection operation cannot be guaranteed.

In order to solve the above problems, embodiments of the present application provide a route generation method, an apparatus, a terminal, and a storage medium, where a transition route can be automatically generated only by inputting a region division parameter by a user, so as to reduce human involvement and improve efficiency of plant protection operation performed by unmanned operation equipment. The plant protection operation may be, but is not limited to, spraying pesticides, sowing seeds, fertilizing, monitoring crop information, agricultural insurance surveying, monitoring plant diseases and insect pests, etc., and the following embodiments are described in detail by taking the operation as an example.

Referring to fig. 1, fig. 1 is a schematic view illustrating an application scenario of an airline generation method according to an embodiment of the present application, where the application scenario includes a mapping machine, a server/ground workstation, a terminal, and an unmanned aerial vehicle, the mapping machine and the server/ground workstation are connected through a communication network, the server/ground workstation and the terminal are connected through a communication network, and the terminal and the unmanned aerial vehicle are connected through a communication network, where the communication network may be a wired network or a wireless network.

The mapping machine is used to collect image information of a selected area and send the collected image information to a server/ground workstation. The selected area can be a field, a hillside and the like planted with economic forest, the economic forest can be a fruit tree, a poplar, a pine and fir tree and the like, and the following embodiment takes the fruit tree as an example for description; the image information of the selected area includes pictures, image data and the like for recording the selected area; the surveying and mapping machine can be an unmanned aerial vehicle special for shooting high-definition maps and geographic surveying and mapping, and can also be a common unmanned aerial vehicle provided with a camera device.

The server/ground workstation is used for carrying out three-dimensional reconstruction on the image information sent by the surveying and mapping machine to obtain a three-dimensional map of the selected area and sending the three-dimensional map to the terminal.

The terminal is used for determining an area to be operated from the three-dimensional map according to a selection instruction input by a user; dividing the area to be operated into at least one sub-area comprising economic trees (such as fruit trees) according to the area division parameters input by the user, and generating a transition route corresponding to each sub-area; and generating a working route of the sub-area based on the transition route of the sub-area, and sending the working route to the unmanned working equipment. Alternatively, the terminal may be any one of a smartphone, a tablet computer, a laptop computer, a desktop computer, a server, and the like, and the above devices may be used to implement the route generation method of the following embodiments. When the terminal is a server, a client needs to be set to be in communication connection with the server so as to realize interaction between a user and the server through the client, the client can be a touch display screen or a display screen without an interaction function and mouse key equipment, and the mouse key equipment comprises a mouse and a keyboard.

The unmanned operation equipment is used for operating the sub-area according to the operation route of the sub-area sent by the terminal.

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a route generation method according to an embodiment of the present application. The route generation method is applied to unmanned operation equipment and comprises the following steps:

step S101, acquiring the area to be operated and the position information of all the target objects in the area to be operated.

As an implementation manner, when a certain selected area needs to be operated, firstly, image information of the selected area is collected through a mapping machine and sent to a server/ground workstation, the server/ground workstation reconstructs a three-dimensional map of the selected area according to the image information and sends the three-dimensional map to a terminal, each point in the three-dimensional map has position information, and the position information is namely three-dimensional coordinates of each point, including longitude, latitude, altitude and the like; after receiving the three-dimensional map, the terminal displays the three-dimensional map, and a user demarcates a region to be operated in the three-dimensional map through an interactive device (such as a touch screen, a mouse, a keyboard and the like) of the terminal, wherein the region to be operated is a region to be operated, and the region to be operated can be smaller than or equal to a selected region; and then the terminal sends the defined area to be operated to the server/ground workstation, the server/ground workstation learns the target object in the area to be operated by using a deep learning algorithm, and feeds back the position information of the target object to the terminal, wherein the target object is economic forest, such as fruit trees and the like, which needs to be operated.

As another embodiment, when a certain area needs to be operated, image information of the selected area is collected by a surveying and mapping machine and is sent to a server/ground workstation, the server/ground workstation reconstructs a three-dimensional map of the selected area according to the image information, a target object in the selected area is learned by using a deep learning algorithm, and then the three-dimensional map is sent to a terminal, wherein the three-dimensional map comprises position information of all the learned target objects; the terminal receives the three-dimensional map, displays the three-dimensional map, a user demarcates a region to be operated in the three-dimensional map through interactive equipment (such as a touch screen, a mouse, a keyboard and the like) of the terminal, the region to be operated is a region to be operated, the region to be operated can be smaller than or equal to a selected region, and then the terminal directly obtains position information of all target objects in the region to be operated from the three-dimensional map sent by the server/the ground workstation.

The three-dimensional map usually includes a specific shape of the target object and corresponding data information, for example, a fruit tree density, a radius of each fruit tree, and the like, instead of simplifying the target object into one pixel point, therefore, a center point coordinate of the target object in the three-dimensional map can be used as position information of the target object, the center point can be a center of gravity, a geometric center, and the like of the target object, and a user can flexibly set the center point according to actual needs, which is not limited herein. Meanwhile, in the same selected area or the area to be operated, the central point of each target object needs to be determined according to the same setting rule, so that the precision is improved.

In addition, in order to facilitate the subsequent generation of the route, the user may use a polygon to define the area to be operated, that is, the area to be operated may be a polygon, and the polygon may be a convex polygon or a concave polygon, and the number of sides of the polygon is not limited herein, and only all the target objects required to be operated need to be included.

Optionally, the process of acquiring the to-be-operated area and the position information of all the target objects in the to-be-operated area may include the following steps:

first, a three-dimensional map is acquired. The three-dimensional map may be obtained by capturing image information of the selected area using a mapping machine and reconstructing the image information in three dimensions using a server/ground workstation.

Then, in response to the selection instruction, the area to be worked is determined from the three-dimensional map. The selection instruction may be a framing operation of the three-dimensional map by the user, and according to the framing operation, a boundary line of the area to be operated is determined from the three-dimensional map, that is, the boundary line of the area to be operated is generated corresponding to the framing operation of the user, so as to obtain the area to be operated, and the area to be operated may be a polygon; the selection instruction may also be a clicking operation of the three-dimensional map by the user, and according to the clicking operation, the boundary points of the areas to be operated are determined from the three-dimensional map and connected, that is, the boundary points of the areas to be operated are generated and connected corresponding to the clicking operation of the user to obtain the areas to be operated, and the areas to be operated may be polygons;

and finally, acquiring the position information of all the target objects in the area to be operated, wherein the position information of the target objects comprises the longitude, the latitude, the altitude and the like of the target objects.

Step S102, obtaining a region division parameter, and dividing the region to be operated into at least one sub-region including the target object according to the region division parameter.

In this embodiment, the area division parameter is an instruction input by a user and required to divide an area to be operated, after the terminal acquires the area division parameter, the area to be operated is divided into at least one sub-area according to the area division parameter, and each sub-area includes a target object.

As an embodiment, the area dividing parameter may be a scribing operation performed by a user on the area to be worked, and in order to facilitate the subsequent generation of the route, the scribing operation may be a straight line, that is, the user may divide the area to be worked into at least one sub-area including the target object by using the straight line, and each sub-area is a strip-shaped area.

As another embodiment, the region division parameter may include at least one preset included angle and at least one preset distance, the preset included angle may be an included angle between the sub-region that the user wants to divide and a pre-established ground horizontal coordinate system, and the preset distance may be a width of the sub-region that the user wants to divide. The preset included angle and the preset distance are set by a user according to the actual conditions (such as arrangement direction, terrain change trend and the like) of the to-be-operated area, and are not limited herein. The preset included angle and the preset distance may be one or more, that is, the terminal may divide the area to be operated into at least one sub-area according to one preset included angle and one preset distance, or may divide the area to be operated into at least one sub-area according to a plurality of preset included angles and a plurality of preset distances.

Referring to fig. 3, when the region division parameter includes at least one preset included angle and at least one preset distance, the manner of dividing the region to be operated into at least one sub-region including the target object according to the region division parameter in step S102 may include the following sub-steps:

and a substep S1021, acquiring any point of the region to be operated, and establishing a horizontal coordinate system by taking the point as an origin.

In this embodiment, after the user defines the area to be worked, any one point of the area to be worked is taken as an origin to establish a horizontal coordinate system, for example, if a fixed reference (e.g., a telegraph pole, a road sign, etc.) exists in the area to be worked, the center point of the fixed reference is taken as the origin to establish the horizontal coordinate system; if the region to be worked is a polygon, a certain vertex of the polygon (e.g., the south-most point, the north-most point, etc.) may be selected as the origin to establish the horizontal coordinate system. The horizontal coordinate system is a coordinate system parallel to the "local horizontal plane", and the directions of the coordinate axes in the coordinate system can be flexibly set by the user according to the needs, for example, the horizontal coordinate system is established with north as the x-axis and east as the y-axis, and the like, and is not limited herein.

For example, fig. 4 shows an application example diagram of the route generation method provided in the embodiment of the present application, please refer to fig. 4, after receiving a three-dimensional map, a terminal displays the three-dimensional map, and a small triangle in the diagram represents a target object; then, a user defines a region to be operated, wherein the region to be operated in the figure is hexagonal; and establishing a horizontal coordinate system by taking the vertex of the south-most edge of the hexagon as an origin o, the east as an x axis and the north as a y axis.

In the substep S1022, a plurality of boundary lines are generated in the to-be-operated area according to at least one preset included angle, at least one preset distance, and the ground level coordinate system established for the to-be-operated area.

In this embodiment, the included angles between the boundary lines and the same coordinate axis in the ground horizontal coordinate system may be the same or different; the distance between two adjacent dividing lines may or may not be equal.

As an embodiment, when the area division parameter includes a preset included angle and a preset distance, in a plurality of boundary lines generated according to the area division parameter and the ground level coordinate system, an included angle between each boundary line and the same coordinate axis in the ground level coordinate system is a preset included angle, and a distance between two adjacent boundary lines is a preset distance, that is, an included angle between each boundary line and the same coordinate axis in the ground level coordinate system is the same, and a distance between two adjacent boundary lines is the same.

In this case, the plurality of boundary lines are parallel, and the equation of the boundary lines may be set to y ═ tan (α) x + kd, where k is … -2, -1,0,1,2 …, α is a preset included angle, d is a preset distance, and x and y are the abscissa and ordinate of each point on the boundary line.

The boundary is generated in such a way that the boundary just covers the area to be operated, that is, the value range of k in the boundary equation y ═ tan (α) x + kd just covers the area to be operated.

When the region to be worked is a polygon, the value range of k in the boundary equation y ═ tan (α) x + kd can be determined in the following manner:

1. acquiring coordinate information of each vertex in a polygonal region to be operated;

2. enabling the coordinate information of each vertex in the polygonal region to be operated to meet y > tan (alpha) x + (k-1) d, and taking the value of k at the moment as the minimum value in the value range of k, for example, -1;

3. enabling the coordinate information of each vertex in the polygonal region to be operated to satisfy y ≦ tan (alpha) x + kd, and taking the value of k at the moment as the maximum value in the value range of k, for example, 3;

4. the equation that exactly covers the respective boundary of the region to be worked is determined from the minimum value (e.g., -1) in the k value range and the maximum value (e.g., 3) in the k value range, where the values of k are integers, e.g., y ═ tan (α) x-d, y ═ tan (α) x + d, y ═ tan (α) x +2d, and y ═ tan (α) x +3 d.

As another embodiment, when the region division parameter includes a plurality of preset included angles and a plurality of preset distances, one or more dividing lines may be generated according to one preset included angle and one preset distance, and the number of the dividing lines generated by one preset included angle and one preset distance may be set by the user. That is, the user inputs a preset included angle and a preset distance to generate one or more boundary lines, and then inputs a preset included angle and a preset distance to generate one or more boundary lines until the boundary lines cover the whole area to be operated.

In this case, in the generated plurality of boundary lines, for the included angles of the boundary lines and the same coordinate axis in the ground horizontal coordinate system, the included angles of each boundary line and the same coordinate axis in the ground horizontal coordinate system may be different, or the included angles of part of the boundary lines and the same coordinate axis in the ground horizontal coordinate system may be different; as for the distance between two adjacent dividing lines, the distance between any two adjacent dividing lines may not be equal, or the distance between some two adjacent dividing lines may not be equal. That is, the plurality of dividing lines may be parallel and equidistant, or may not be parallel and equidistant.

In the sub-step S1023, the region to be worked is divided into at least one sub-region including the target object according to a plurality of dividing lines, and the region boundary of the sub-region is two adjacent dividing lines.

In this embodiment, after generating a plurality of parallel boundary lines that just cover the area to be operated according to at least one preset included angle, at least one preset distance, and a ground level coordinate system established for the area to be operated, first, dividing the area to be operated into a plurality of areas according to the plurality of boundary lines, where the area boundary of each area is two adjacent boundary lines, that is, assuming that n parallel boundary lines are generated, the n parallel boundary lines divide the area to be operated into n-1 areas; then, a region in which a target object (e.g., a fruit tree) exists in the plurality of regions is set as a sub-region, and the region boundary of the sub-region is two adjacent boundary lines, for example, only m regions in the n-1 regions have a target object (e.g., a fruit tree), and then the m regions are set as sub-regions, and the number of the sub-regions is m.

Meanwhile, in order to improve the accuracy of the generated route, it is further required to determine the sub-region to which each target object (e.g., fruit tree) belongs, for example, the included angle between each boundary line and the same coordinate axis in the ground horizontal coordinate system is the same, and the distance between two adjacent boundary lines is the same, the sub-region to which each target object (e.g., fruit tree) belongs may be determined by using the inequality y ≦ tan (α) x + kd and y > tan (α) x + (k-1) d, specifically, the value of k may be calculated by substituting the position information of each target object (e.g., fruit tree) into the above equation, that is, the sub-region to which each target object (e.g., fruit tree) belongs may be determined as long as the position information of each target object (e.g., fruit tree) satisfies y ≦ tan (α) x + kd and y > tan (α) x + (k-1) d at the same time, for example, assuming that the position information of the target object satisfies y ≦ tan (α) x-d and y > tan (α) x at the same time, the boundaries of the sub-regions to which the target object belongs are y ═ tan (α) x-d and y ═ tan (α) x.

The position information here may include longitude and latitude, and how to substitute the longitude and latitude is determined according to a pre-established ground level coordinate system, specifically, if an x axis of the ground level coordinate system is east or west, and a y axis is south or north, the longitude and the latitude are taken as x and y, respectively; if the x-axis of the horizontal coordinate system is south or north and the y-axis is east or west, then the longitude and latitude are taken as y and x, respectively.

For example, fig. 5 shows another application example diagram of the route generation method provided in the embodiment of the present application, please refer to fig. 5, where it is assumed that the region division parameters input by the user include a preset included angle α and a preset distance d, after the terminal acquires the preset included angle α and the preset distance d, based on a pre-established horizontal coordinate system established with a vertex of a southerest side of a hexagon as an origin, an east as an x-axis, and a north as a y-axis, 5 boundary lines (shown by dotted lines in the diagram) are generated, where the included angle between the two adjacent boundary lines is α and the distance between the two adjacent boundary lines is d; the 5 borderlines divide the region to be worked into A, B, C, D total 4 regions, and since the region A, B, C includes the object, the region A, B, C is regarded as 3 sub-regions, and the region boundary of each sub-region is shown by a dotted line in the figure.

And S103, generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, wherein the transition route is connected with all the target objects in the sub-areas.

In this embodiment, after dividing the area to be operated into at least one sub-area including the target object, a transition route connecting all target objects (e.g., fruit trees) in the sub-area needs to be generated according to the position information of all target objects (e.g., fruit trees) in each sub-area, and one sub-area corresponds to one transition route.

As an embodiment, the distance from each target object (e.g., a fruit tree) to the ground level coordinate system may be calculated according to the position information of each target object (e.g., a fruit tree) in the sub-area, and then each target object (e.g., a fruit tree) is numbered according to the distance from each target object (e.g., a fruit tree) to the ground level coordinate system, and the numbering rule may be determined by the user as needed, for example, the numbering is performed in the order of the distances from large to small, or the numbering is performed in the order of the distances from small to large, and after the numbering is completed, all the target objects in the sub-area are connected according to the numbering, so as to obtain the transition route of the sub-area.

As another embodiment, the projection distance from each target object (e.g., a fruit tree) in the sub-region to the same region boundary of the sub-region may be calculated according to the position information of each target object (e.g., a fruit tree) in the sub-region, and each target object (e.g., a fruit tree) may be numbered according to the projection distance from each target object (e.g., a fruit tree) to the same region boundary of the sub-region, and after the numbering is completed, all target objects in the sub-region may be connected according to the numbers to obtain the transition route of the sub-region.

Referring to fig. 6, the manner of generating the transition route of each sub-region according to the position information of all the target objects in each sub-region in step S103 may include the following sub-steps:

and a substep S1031 of calculating the projection distance from each target object in the sub-region to the same region boundary of the sub-region.

In this embodiment, the process of calculating the projection distance from each target object in the sub-region to the same region boundary of the sub-region may include the following steps:

first, a first intersection coordinate and a second intersection coordinate of a boundary of an area to be operated and a boundary line of an area to be operated are obtained, at least two intersection points of the area boundary and the boundary line of the area to be operated can be determined, and then coordinates of any two intersection points are obtained as the first intersection coordinate and the second intersection coordinate, for example, fig. 7 shows another application example of the lane generation method provided by the embodiment of the present application, please refer to fig. 7, taking a sub area a in fig. 5 as an example, a region boundary of the sub area a (shown as a dotted line 1 in the figure) and the boundary line of the area to be operated have two intersection points M and N, a coordinate of the intersection point M is used as the first intersection coordinate, and a coordinate of the intersection point N is used as the second intersection coordinate.

Secondly, determining a first vector parallel to the region boundary according to the first intersection point coordinate and the second intersection point coordinate, and subtracting the first intersection point coordinate from the second intersection point coordinate to obtain a first vector parallel to the region boundary

For example, as incorporated into FIG. 7, the coordinate of intersection point M is subtracted from the coordinate of intersection point N to obtain the first vector

Thirdly, determining a second vector intersected with the zone boundary according to the first intersection point coordinate and the position information of the target object, and subtracting the first intersection point coordinate from the position information of the target object to obtain a second vector intersected with the zone boundary

For example, referring to fig. 7, taking the 1# object as an example, the second vector can be obtained by subtracting the coordinate of the intersection point M from the position information of the 1# object

Fourthly, according to the first vector and the second vector, the target is calculated according to a preset formulaThe projection distance from the object to the boundary of the region is preset by the formula

Wherein l_iThe projected distance of the object i to the zone boundary,

in order to be the second vector, the vector is,

for the first vector, e.g., as incorporated in FIG. 7, the projection distance of the 1# object to the boundary of the region (shown as dashed line 1 in the figure) is l₁。

And a substep S1032 of determining the operation sequence of all the objects in the sub-region according to the projection distance corresponding to each object.

In this embodiment, after calculating the projection distance from each target object (e.g., fruit tree) in the sub-area to the same area boundary of the sub-area, each target object (e.g., fruit tree) is numbered according to the projection distance from each target object (e.g., fruit tree) to the same area boundary of the sub-area, the numbering corresponds to the work order, and the numbering rules can be determined by the user as needed, for example, the numbers are numbered in the order of the projection distance from large to small, or the numbers are numbered in the order of the projection distance from small to large, for example, as shown in fig. 7, the projection distances of the 1# target object, the 2# target object and the 3# target object are l₁、l₂、l₃And l is₁>l₂>l₃When the numbers are numbered in descending order, the operation order is 3# object-2 # object-1 # object.

And a substep S1033 of connecting all the target objects in the subarea according to the operation sequence to obtain a transition route corresponding to the subarea.

For example, in FIG. 7, the transitional route 3# -2 # -1 # is obtained according to the operation sequence of 3# target-2 # target-1 # target.

As an implementation mode, after the transition route of each sub-area is generated, if any sub-area needs to be operated, the operation route corresponding to the sub-area can be obtained only by adding the entering route and the returning route on the basis of the transition route corresponding to the sub-area, the terminal sends the operation route to the unmanned operation equipment, and the unmanned operation equipment can operate the selected sub-area according to the operation route. Therefore, on the basis of fig. 2, fig. 8 shows another schematic flow chart of the lane generation method provided in the embodiment of the present application, please refer to fig. 8, and after step S103, the lane generation method further includes steps S104 to S105.

And step S104, responding to the area selection command, and determining a target sub-area from at least one sub-area.

In this embodiment, the target sub-region is a sub-region that needs to be operated and is selected by the user, and the region selection instruction may be a frame selection operation of the target sub-region by the user, or may be a number of the target sub-region input by the user, for example, when the user selects the lower right sub-region or inputs a in combination with fig. 5, the target sub-region a can be determined.

And S105, generating an operation route of the target sub-region according to the transition route corresponding to the target sub-region, and sending the operation route to the unmanned operation equipment so that the unmanned operation equipment operates on the target sub-region according to the operation route, wherein the operation route comprises an entering route, the transition route and a returning route.

In the embodiment, after the target sub-area is determined, the taking-off and landing point is connected with the first target object in the transition route to obtain the entering route, the last target object in the transition route is connected with the taking-off and landing point to obtain the returning route, and the entering route, the transition route and the returning route jointly form the operation route of the target sub-area.

For example, fig. 9 shows another application example diagram of the lane generation method provided by the embodiment of the present application, please refer to fig. 9, and assuming that the departure and landing point is P, the entering lane is P-3 #, and the returning lane is 1# -P, then the working lane is P-3 # -2 # -1 # -P.

As another embodiment, if there is only one sub-area, after the transition route of the sub-area is generated, an operation route corresponding to the sub-area may be automatically generated without selection by a user, the terminal sends the operation route to the unmanned operation device, and the unmanned operation device may operate the selected sub-area according to the operation route. Therefore, on the basis of fig. 2, fig. 10 shows another schematic flow chart of the lane generation method provided in the embodiment of the present application, please refer to fig. 10, and after step S103, the lane generation method further includes step S104 ″.

And step S104' when the sub-areas are one, generating an operation route of the sub-areas according to the transition route corresponding to the sub-areas and sending the operation route to the unmanned operation equipment so that the unmanned operation equipment operates on the sub-areas according to the operation route, wherein the operation route comprises an entering route, a transition route and a returning route.

It should be noted that, as those skilled in the art should understand, the operation route of the sub-area should also include the operation route of each target object (for example, a fruit tree) in the sub-area, and since the three-dimensional map usually includes specific shapes of the target objects and corresponding data information, for example, the fruit tree density, the radius of each fruit tree, etc., a user can determine to perform spiral spraying or fixed-point spraying on the specific target objects (for example, the fruit tree) according to the information, and the terminal can automatically generate the operation route of each target object (for example, the fruit tree) according to the selected spraying mode, which is common knowledge in the art and therefore will not be described herein again.

Compared with the prior art, the embodiment of the application has the following beneficial effects:

firstly, a user can automatically generate a transition route only by inputting region division parameters, so that manual participation is reduced, and the efficiency of the unmanned operation equipment in operation is improved;

secondly, when the unmanned aerial vehicle is used for operating an area to be operated in the prior art, a continuous and complete flight path is planned, and the unmanned aerial vehicle is used for operating, under the scene that the flight path is long, after the single operation of the unmanned aerial vehicle is finished, the unmanned aerial vehicle records the position coordinate when the operation is finished, returns to charge or add pesticide, and then returns to the recorded position coordinate to continue the operation, and under the condition, if the recorded position coordinate is lost due to the failure of the unmanned aerial vehicle, the unmanned aerial vehicle is likely to need to operate again from the beginning. In the embodiment of the application, the area to be operated is divided into at least one sub-area comprising the target object, and each sub-area is planned with an independent transition route, so that the problem that the operation cannot be continued on the basis of the original position coordinates due to faults can be effectively avoided, and the operation efficiency of unmanned operation equipment is improved;

finally, each subarea is planned with an independent transition route, so that at least one subarea can be operated by adopting at least one piece of unmanned operation equipment, and the operation efficiency of the unmanned operation equipment can be effectively improved.

In order to perform the corresponding steps in the above-described method embodiments and in each possible implementation, an implementation of the route generation device is given below. Referring to fig. 11, fig. 11 is a block schematic diagram illustrating a route generation device 100 according to an embodiment of the present application. The route generation device 100 is applied to a terminal, and the route generation device 100 includes: the system comprises an acquisition module 101, an area division module 102 and a route generation module 103.

The acquiring module 101 is configured to acquire a to-be-operated area and position information of all target objects in the to-be-operated area.

Optionally, the obtaining module 101 is specifically configured to obtain a three-dimensional map; responding to a selection instruction, and determining a region to be operated from the three-dimensional map; and acquiring the position information of all the target objects in the area to be operated.

Optionally, the obtaining module 101 may be configured to execute step S101 in the foregoing method embodiment to achieve a corresponding technical effect.

The region dividing module 102 is configured to obtain a region dividing parameter, and divide a region to be operated into at least one sub-region including a target object according to the region dividing parameter.

Optionally, the region division parameter includes at least one preset included angle and at least one preset distance; the region dividing module 102 is specifically configured to: generating a plurality of boundary lines in the area to be operated according to at least one preset included angle, at least one preset distance and a ground horizontal coordinate system established for the area to be operated; according to a plurality of dividing lines, the area to be operated is divided into at least one sub-area comprising the target object, and the area boundary of the sub-area is two adjacent dividing lines.

Optionally, the included angle between each boundary line and the same coordinate axis in the ground horizontal coordinate system is the same preset included angle, and the distance between two adjacent boundary lines is the same preset distance.

Optionally, the region dividing module 102 may be configured to perform step S102 and sub-steps S1021 to S1022 in the above method embodiment, so as to achieve the corresponding technical effect.

And the route generation module 103 is used for generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, and the transition route is connected with all the target objects in the sub-areas.

Optionally, the route generation module 103 is specifically configured to calculate a projection distance from each target object in the sub-region to the same region boundary of the sub-region; determining the operation sequence of all the target objects in the sub-area according to the projection distance corresponding to each target object; and connecting all the target objects in the sub-area according to the operation sequence to obtain a transition route corresponding to the sub-area.

Optionally, the route generation module 103 performs a manner of calculating the projection distance from each target object in the sub-region to the same region boundary of the sub-region, including: acquiring a first intersection point coordinate and a second intersection point coordinate of a boundary line of an area boundary and an area to be operated; determining a first vector parallel to the region boundary according to the first intersection point coordinate and the second intersection point coordinate; determining a second vector intersected with the region boundary according to the first intersection point coordinate and the position information of the target object; and calculating the projection distance from the target object to the region boundary according to a preset formula according to the first vector and the second vector.

Optionally, the route generation module 103 may be configured to execute step S103 and sub-steps S1031 to S1033 in the above method embodiment to achieve the corresponding technical effect.

Optionally, the route generation module 103 is further configured to: determining a target sub-area from at least one sub-area in response to the area selection instruction; and generating an operation route of the target sub-region according to the transition route corresponding to the target sub-region, and sending the operation route to the unmanned operation equipment so that the unmanned operation equipment operates on the target sub-region according to the operation route, wherein the operation route comprises an entering route, a transition route and a returning route.

Optionally, the route generation module 103 may also be configured to perform steps S104 to S105 in the above method embodiment to achieve a corresponding technical effect.

Optionally, the route generation module 103 is further configured to: when the number of the sub-areas is one, the operation air routes of the sub-areas are generated according to the transition air routes corresponding to the sub-areas and are sent to the unmanned operation equipment, so that the unmanned operation equipment can operate on the sub-areas according to the operation air routes, and the operation air routes comprise an entering air route, a transition air route and a returning air route.

Optionally, the route generation module 103 may also be configured to execute step S104 ″ of the above method embodiment to achieve a corresponding technical effect.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the route generation apparatus 100 described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

Referring to fig. 12, fig. 12 is a block diagram illustrating a terminal 10 according to an embodiment of the present disclosure. The terminal 10 includes a processor 11, a storage medium 12, and a bus 13, and the processor 11 is connected to the storage medium 12 through the bus 13.

The storage medium 12 is used for storing a program, such as the airline generation apparatus 100 shown in fig. 11, the airline generation apparatus 100 includes at least one software functional module which can be stored in the storage medium 12 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the terminal 10, and the processor 11 executes the program to implement the airline generation method disclosed in the above-described embodiment after receiving an execution instruction.

The storage medium 12 may include a Random Access Memory (RAM) and may also include a non-volatile Memory (NVM).

The processor 11 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 11. The processor 11 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Micro Control Unit (MCU), a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), and an embedded ARM.

The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by the processor 11, implements the route generation method disclosed in the above embodiment.

To sum up, the present application provides a method, an apparatus, a terminal and a storage medium for generating a route, where the method includes: acquiring a region to be operated and position information of all target objects in the region to be operated; acquiring a region division parameter, and dividing a region to be operated into at least one sub-region including a target object according to the region division parameter; and generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, wherein the transition route is connected with all the target objects in the sub-area. Compared with the prior art, the method and the device have the advantages that the transition route of each sub-area can be generated only by inputting the area division parameters by the user, so that manual participation is reduced, and the operation efficiency of the unmanned operation equipment is effectively improved.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Claims

1. A method of generating a route, the method comprising:

acquiring a to-be-operated area and position information of all target objects in the to-be-operated area, wherein the target objects are economic trees;

acquiring region division parameters, generating a plurality of boundaries according to the region division parameters, and dividing the region to be operated into at least one sub-region including a target object through the boundaries;

generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, wherein the transition route is connected with all the target objects in the sub-area;

the step of generating the transition route of each sub-area according to the position information of all the target objects in each sub-area comprises the following steps:

calculating the projection distance from each target object in the sub-region to the same region boundary of the sub-region, wherein the region boundary of the sub-region is two adjacent boundary lines;

determining the operation sequence of all the target objects in the sub-area according to the projection distance corresponding to each target object;

connecting all the target objects in the sub-area according to the operation sequence to obtain a transition route corresponding to the sub-area;

or, the step of generating the transition route of each sub-region according to the position information of all the target objects in each sub-region includes:

calculating the distance from each target object to a ground horizontal coordinate system according to the position information of each target object in the sub-area;

determining the operation sequence of all the target objects in the sub-area according to the distance from each target object to the ground horizontal coordinate system;

and connecting all the target objects in the sub-area according to the operation sequence to obtain a transition route corresponding to the sub-area.

2. The method of claim 1, wherein the region partition parameters include at least one preset included angle and at least one preset distance;

the step of dividing the area to be operated into at least one sub-area including the target object according to the area division parameter includes:

acquiring any one point of the area to be operated, and establishing a horizontal coordinate system by taking the point as an origin;

generating a plurality of boundary lines in the area to be operated according to at least one preset included angle, at least one preset distance and a ground horizontal coordinate system established for the area to be operated;

and dividing the area to be operated into at least one sub-area comprising the target object according to the plurality of dividing lines.

3. The method according to claim 2, wherein the included angle between each boundary line and the same coordinate axis in the horizontal coordinate system is the same predetermined included angle, and the distance between two adjacent boundary lines is the same predetermined distance.

4. The method of claim 3, wherein the dividing line has an equation of y-tan (α) x + kd, where k- … -2, -1,0,1,2 …, α is the predetermined included angle, d is the predetermined distance, and x and y are the abscissa and ordinate of each point on the dividing line.

5. The method of claim 1, wherein the step of calculating the projection distance of each object in the sub-region to the same region boundary of the sub-region comprises:

acquiring a first intersection point coordinate and a second intersection point coordinate of the boundary line of the region boundary and the region to be operated;

determining a first vector parallel to the region boundary according to the first intersection point coordinate and the second intersection point coordinate;

determining a second vector intersected with the region boundary according to the first intersection point coordinate and the position information of the target object;

and calculating the projection distance from the target object to the region boundary according to a preset formula according to the first vector and the second vector.

6. The method of claim 1, wherein the method further comprises:

determining a target sub-region from at least one of the sub-regions in response to a region selection instruction;

and generating an operation route of the target sub-region according to the transition route corresponding to the target sub-region, and sending the operation route to unmanned operation equipment so that the unmanned operation equipment operates the target sub-region according to the operation route, wherein the operation route comprises an entering route, a transition route and a returning route.

7. The method of claim 1, wherein the method further comprises:

when the number of the sub-areas is one, generating an operation air route of the sub-area according to a transition air route corresponding to the sub-area, and sending the operation air route to unmanned operation equipment so that the unmanned operation equipment operates the sub-area according to the operation air route, wherein the operation air route comprises an entering air route, a transition air route and a returning air route.

8. The method according to claim 1, wherein the step of acquiring the position information of the area to be worked and all the objects in the area to be worked comprises:

acquiring a three-dimensional map;

responding to a selection instruction, and determining a region to be operated from the three-dimensional map;

and acquiring the position information of all the target objects in the area to be operated.

9. A route generation apparatus, characterized in that the apparatus comprises:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a to-be-operated area and position information of all target objects in the to-be-operated area, and the target objects are economic trees;

the area dividing module is used for acquiring area dividing parameters, generating a plurality of boundary lines according to the area dividing parameters, and dividing the area to be operated into at least one sub-area comprising a target object through the boundary lines;

the route generation module is used for generating a transition route of each sub-area according to the position information of all the target objects in each sub-area, and the transition route is connected with all the target objects in the sub-area;

the route generation module is specifically configured to:

or, the route generation module is specifically configured to:

10. The apparatus of claim 9, wherein the region partition parameters include at least one preset included angle and at least one preset distance;

the region division module is specifically configured to:

11. The apparatus of claim 10, wherein each of the boundary lines has the same predetermined angle with respect to the same coordinate axis of the horizontal coordinate system, and the distance between two adjacent boundary lines has the same predetermined distance.

12. The apparatus of claim 11, wherein the dividing line has an equation of y-tan (α) x + kd, where k- … -2, -1,0,1,2 …, α is the predetermined included angle, d is the predetermined distance, and x and y are the abscissa and ordinate of each point on the dividing line.

13. The apparatus of claim 9, wherein the route generation module performs a manner of calculating a projected distance of each target object within the sub-region to a same region boundary of the sub-region, comprising:

14. The apparatus of claim 9, wherein the route generation module is further to:

15. The apparatus of claim 9, wherein the route generation module is further to:

16. The apparatus of claim 9, wherein the acquisition module is specifically configured to:

acquiring a three-dimensional map;

17. A terminal, characterized in that the terminal comprises:

one or more processors;

memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-8.

18. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-8.