CN111766864B - Path generation method and device, electronic equipment and computer readable storage medium - Google Patents
Path generation method and device, electronic equipment and computer readable storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a path generation method, a path generation device, electronic equipment and a computer readable storage medium, and relates to the technical field of path planning. The method is used for determining a boundary line of a region to be planned when the region to be planned exists in a target operation region, determining a current starting waypoint positioned in the boundary line according to the boundary line, current position coordinates of unmanned operation equipment and a preset operation distance, and then taking the current starting waypoint as a starting point, and inwardly reducing the preset operation distance from the boundary line to obtain a current operation path. Because the operation path is obtained based on inward contraction of the boundary line, different snake-shaped tracks do not need to be continuously generated according to the boundary line, the traditional path planning process can be simplified, the length of the operation path can be shortened, and therefore the purposes of improving the operation efficiency, saving the electric quantity and other energy consumption costs are achieved.
Description
Technical Field
The invention relates to the technical field of path planning, in particular to a path generation method, a path generation device, electronic equipment and a computer-readable storage medium.
Background
The unmanned operation equipment has an advanced autonomous control technology, does not need remote control, and can operate in a specified area according to a planned path only by means of accurate satellite positioning and self sensing. In the prior art, the pre-planned path is typically a serpentine path.
However, the path generation method in the prior art is generally suitable for water surface areas with ground or regular shapes as the operation objects, and for irregular water surface operation areas such as lake surfaces with different widths, concave-convex banks of rivers and the like, the traditional path generation method can generate a large number of snake-shaped short routes. The mode not only complicates the course planning process, but also causes the unmanned operation equipment to need frequent line changing, increases the length of the operation path, wastes energy consumption resources such as electric quantity and the like, and seriously reduces the operation efficiency of the unmanned operation equipment.
Disclosure of Invention
In view of the above, the present invention provides a path generation method, apparatus, electronic device and computer readable storage medium to solve the above problems.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment provides a path generation method, where the path generation method includes:
when a region to be planned exists in a target operation region, determining a boundary line of the region to be planned, wherein the target operation region is a complete region needing to be planned, and the region to be planned is a region which meets a planning condition in the target operation region;
determining a current starting waypoint positioned in the boundary line according to the boundary line, the current position coordinate of the unmanned operation equipment and a preset operation distance;
and taking the current starting waypoint as a starting point, and inwards contracting the boundary line by the preset operation distance to obtain a current operation path.
In an optional embodiment, the step of determining the boundary line of the area to be planned includes:
if the area of the region to be planned is equal to the area of the target operation region, determining the boundary line of the target operation region as the boundary line of the region to be planned;
and if the area of the area to be planned is smaller than the area of the target operation area, determining a boundary line of the area to be planned according to the operation mode of the unmanned operation equipment and a historical operation path, wherein the historical operation path is a previous operation path of the current operation path.
In an optional embodiment, the step of determining the boundary line of the area to be planned according to the operation mode and the historical operation path of the unmanned operation equipment comprises:
if the operation mode of the unmanned operation equipment is a first mode, determining the historical operation path as a boundary line of the area to be planned, wherein the first mode is that the unmanned operation equipment performs single-side operation in a direction that the boundary of the target operation area deviates from the center of the target operation area;
if the operation mode of the unmanned operation equipment is a second mode, determining a sideline obtained by retracting the historical operation path by a preset operation distance inwards as the borderline of the area to be planned, wherein the second mode is that the unmanned operation equipment performs bilateral operation according to the direction that the boundary of the target operation area points to the center of the target operation area and the direction that the boundary of the target operation area deviates from the center of the target operation area.
In an optional embodiment, the step of determining a current starting waypoint located within the boundary line according to the boundary line, the current position coordinates of the unmanned aerial vehicle and a preset working distance includes:
and moving the preset working distance towards the direction of the boundary line close to the center of the target working area by taking the current position coordinate as a starting point so as to obtain the current starting waypoint.
In an alternative embodiment, the target working area includes an unplanned area, and the unplanned area is an area that cannot be covered by a planned path in the target working area;
before the step of determining a boundary line of the area to be planned when the area to be planned exists in the target operation area, the method further includes:
if the area of the unplanned region is larger than a preset area threshold and the space of the unplanned region is enough to generate a next-stage operation path, determining that the region to be planned exists in the target operation region, and determining that the unplanned region is the region to be planned.
In an alternative embodiment, the method further comprises:
if the area of the unplanned area is smaller than or equal to a preset area threshold, determining that no area to be planned exists in the target operation area;
and if the area of the unplanned area is larger than a preset area threshold value and the unplanned area is not enough to generate a next-stage operation path, determining that no area to be planned exists in the target operation area.
In an optional embodiment, after the step of shrinking the boundary line inward by the preset working distance to obtain the current working path with the current starting waypoint as the starting point, the method further includes:
and if the area of the area surrounded by the current operation path is smaller than or equal to a preset area threshold value, deleting the current operation path.
In an optional embodiment, after the step of shrinking the boundary line inward by the preset working distance to obtain the current working path by using the current starting waypoint as the starting point, the method further includes:
if the area of the area surrounded by the current operation path is larger than a preset area threshold value and the area surrounded by the current operation path is not enough to generate a next-stage operation path, determining two end points of the current operation path, wherein the distance between the two end points is two ends of the longest inner diameter in the area surrounded by the current operation path;
and deleting the current work path and connecting the two end points to generate a new work path.
In an alternative embodiment, the method further comprises:
and generating a transition path based on the current position coordinates of the unmanned operation equipment and the current starting waypoint.
In a second aspect, an embodiment provides a path generating apparatus, including:
the boundary line determining module is used for determining a boundary line of a region to be planned when the region to be planned exists in a target operation region, wherein the target operation region is a complete region needing to be planned, and the region to be planned is a region which meets a planning condition in the target operation region;
the starting waypoint determining module is used for determining a current starting waypoint positioned in the boundary line according to the boundary line, the current position coordinate of the unmanned operation equipment and a preset operation distance;
and the path generating module is used for taking the current starting waypoint as a starting point and inwards contracting the boundary line by the preset working distance to obtain a current working path.
In a third aspect, an embodiment provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions capable of being executed by the processor, and the processor can execute the machine executable instructions to implement the path generation method described in any one of the foregoing embodiments.
In a fourth aspect, embodiments provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the path generation method according to any of the preceding embodiments.
According to the path generation method, the path generation device, the electronic equipment and the computer readable storage medium provided by the embodiment of the invention, when the target operation area has the area to be planned, the boundary line of the area to be planned is determined, the current starting waypoint located in the boundary line is determined according to the boundary line, the current position coordinate of the unmanned operation equipment and the preset operation distance, and then the current starting waypoint is taken as the starting point, the preset operation distance is contracted inwards from the boundary line to obtain the current operation path. Because the operation path is obtained based on inward contraction of the boundary line, different snake-shaped tracks do not need to be continuously generated according to the boundary line, the traditional path planning process can be simplified, the length of the operation path can be shortened, and therefore the purposes of improving the operation efficiency, saving the electric quantity and other energy consumption costs are achieved.
In order to make the aforementioned and other objects, features and advantages of the present invention 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 invention, the drawings needed 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 invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a block schematic diagram of an electronic device provided by the present invention.
Fig. 2 shows a flow chart of a path generation method provided by the present invention.
Fig. 3 shows a distribution diagram of planned and unplanned areas in an alternative embodiment.
Fig. 4 shows a detailed flowchart of S202 in fig. 2.
Fig. 5 is a schematic diagram showing two operation modes of the unmanned aerial vehicle.
Fig. 6 shows a schematic view of the determination of the boundary line during the operation of the unmanned aerial vehicle in the first mode.
Fig. 7 shows a schematic view of the determination of the boundary line during the operation of the unmanned aerial vehicle in the second manner.
Fig. 8 shows a further flowchart of the path generation method provided by the present invention.
Fig. 9 shows a process of generating a job path by using the path generation method provided by the present invention.
Fig. 10 is a functional block diagram showing a path generating apparatus provided by the present invention.
An icon: 100-an electronic device; 110-a memory; 120-a processor; 130-a communication module; 200-path generation means; 210-a judgment module; 220-boundary line determination module; 230-a starting waypoint determination module; 240-a path generation module; 250-path optimization module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described 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 of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that 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 the process, method, article, or apparatus that comprises the element.
The traditional path planning method is often suitable for regular operation areas, and a large number of paths with short lengths are generated for irregular operation areas, so that the paths of the unmanned operation equipment need to be frequently changed during actual operation, the total length of the operation paths is increased, energy consumption resources such as electric quantity of the unmanned operation equipment are wasted, and the operation efficiency of the unmanned operation equipment is seriously reduced. Therefore, the present application provides a path generation method, an apparatus, an electronic device, and a computer-readable storage medium, which can reasonably plan a path in an irregular working area, and solve the above problems.
Fig. 1 is a block diagram of an electronic device 100. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120 and the communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 110 is used to store programs or data. The Memory 110 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 120 is a control center of the electronic device 100, connects various parts of the entire electronic device 100 using various interfaces and lines, performs various functions of the electronic device 100 and processes data by operating or executing software programs and/or modules stored in the memory 110 and calling data stored in the memory 110.
The communication module 130 is configured to establish a communication connection between the electronic device 100 and another communication terminal through the network, and to transmit and receive data through the network.
In an alternative embodiment, the electronic device 100 may be a server or a ground station. The server or the ground station may generate a work path in advance according to the path generation method provided by the present invention, and transmit the generated work path to the unmanned aerial vehicle through the communication module 130, so that the unmanned aerial vehicle performs work according to the work path.
In another alternative embodiment, the electronic device 100 may also be an unmanned working device. That is, the unmanned aerial vehicle can directly generate the operation path according to the path generation method provided by the present invention, and then perform the operation according to the operation path. It should be noted that the unmanned operation device may be an unmanned ship, an unmanned aerial vehicle, or an unmanned vehicle.
It should be understood that the structure shown in fig. 1 is only a schematic structural diagram of the electronic device 100, and the electronic device 100 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
First embodiment
The invention provides a path generation method which is applied to an electronic device 100 provided in fig. 1. Please refer to fig. 2, which is a flowchart illustrating a path generation method according to the present invention. The path generation method comprises the following steps:
s201, judging whether the target operation area has an area to be planned, if so, executing S202.
Wherein, the target operation area is a complete area which needs to be planned. For example, if a user needs to work on a water area, the water area is a target work area. Note that the target work area may be set in advance for the electronic apparatus 100 to respond to the operation by the user. In addition, after the target operation area is set, the electronic device 100 may determine information such as a specific geographical position and an area size and shape of the target operation area on the map. Further, since each point on the map has corresponding coordinates, the electronic device 100 may also determine boundary information of the target work area. For example, the boundary information may be information such as a boundary vertex and a boundary line of the target work area.
It should be noted that the target working area may include a planned area and an unplanned area. The planned area is an area which can be covered by the planned path, and the unplanned area is an area which cannot be covered by the planned path.
The planned path includes a historical job path, and the historical job path may be a job path last obtained by the electronic device 100. In an alternative embodiment, the planned area may be associated with a historical work path and a work pattern and work distance of the unmanned work equipment. For example, as shown in fig. 3, where a solid line L1 is a boundary line of the target work area, and solid lines L2 and L3 are planned paths, the path corresponding to the solid line L3 is the historical work path; in addition, the operation mode of the unmanned operation equipment is double-sided operation, and the operation distance is 6 meters, then the operation route is used as a reference and is contracted inwards by 6m to obtain a boundary line between a planned area and an unplanned area, and an area outside the boundary line is the planned area (such as a shaded area in fig. 3); the area within the boundary is the unplanned area (e.g., the blank area in fig. 3).
In an optional implementation manner, if the area of the unplanned area is less than or equal to a preset area threshold, it is determined that no area to be planned exists in the target operation area; or if the area of the unplanned area is larger than a preset area threshold value and the unplanned area is not enough to generate a next-stage operation path, determining that the target operation area does not have the area to be planned. Otherwise, if the area of the unplanned area is larger than the preset area threshold and the space of the unplanned area is enough to generate the next-stage operation path, determining that the region to be planned exists in the target operation area, and determining that the unplanned area is the region to be planned.
In an alternative embodiment, the electronic device 100 may calculate the area of the planned area through a boundary between the planned area and the unplanned area, and then calculate the area of the unplanned area by subtracting the area of the planned area from the target operation area; in another alternative embodiment, the electronic device 100 may also calculate the area of the unplanned area directly according to the boundary between the planned area and the unplanned area.
In addition, the preset area threshold value can be related to the operation mode and the operation distance of the unmanned operation equipment. In an alternative embodiment, the preset area threshold may be associated with a working range of the unmanned working device. For example, the operation mode of the unmanned operation equipment is as follows: spraying to the periphery by taking unmanned operation equipment as a circle center, wherein the operation distance is 3 m; the preset area threshold may be 9 pi.
In an alternative embodiment, if the inner diameter of the unplanned area is mostly smaller than the working distance of the unmanned working equipment, the unplanned area is an elongated area, and the unplanned area is determined to have insufficient space for generating the next working path.
It can be understood that, when the area of the unplanned area is smaller than or equal to the preset area threshold, it indicates that the unmanned working equipment is already working on the planned path to complete the operation of the whole area in the target working area, and therefore, no further working path needs to be generated, and therefore, it is determined that the area to be planned does not exist in the target working area.
And when the area of the unplanned area is larger than the preset area threshold and the unplanned area is not enough to generate the next-stage operation path, indicating that the unplanned area is a long and narrow area, and at the moment, continuing to contract to generate a new operation path, thus determining that no area to be planned exists in the target operation area.
On the contrary, when the area of the unplanned area is larger than the preset area threshold and the space of the unplanned area is enough to generate the next-stage operation path, it indicates that the operation of the unmanned operation equipment in the planned path cannot complete the operation of the whole area in the target operation area, and the unmanned operation equipment can continue to shrink to generate a new operation path, so that the area to be planned is determined to exist in the target operation area, and the unplanned area is determined to be the area to be planned.
And S202, determining a boundary line of the area to be planned.
Please refer to fig. 4, which is a detailed flowchart of S202. The S202 includes:
s2021, if the area of the region to be planned is equal to the area of the target working region, determining the boundary line of the target working region as the boundary line of the region to be planned.
It can be understood that, if the area of the region to be planned is equal to the area of the target operation region, it indicates that the electronic device 100 has not planned a work path for the target operation region, and at this time, the boundary line of the target operation region is directly determined as the boundary line of the region to be planned.
That is, when planning a route for the target work area for the first time, the electronic device 100 can generate a work route directly with reference to the boundary line of the target work area.
And S2022, if the area of the region to be planned is smaller than that of the target operation region, determining a boundary line of the region to be planned according to the operation mode and the historical operation path of the unmanned operation equipment.
If the area of the region to be planned is smaller than the area of the target operation region, it indicates that the electronic device 100 has already planned the operation path for the target operation region. And the boundary line of the area to be planned at this time is associated with the operation mode, the historical operation path and the like of the unmanned operation equipment.
Specifically, the operation modes of the unmanned operation equipment may include a first mode and a second mode. Among them, the first mode is that the unmanned working equipment performs one-sided work in a direction in which the boundary of the target working area deviates from the center of the target working area (as shown in fig. 5 (a)). The second mode is that the unmanned working equipment performs double-sided work in a direction in which the boundary of the target working area points to the center of the target working area and in a direction in which the boundary of the target working area deviates from the center of the target working area (as shown in fig. 5 (b)).
In an alternative embodiment, referring to fig. 6, if the operation mode of the unmanned operation device is the first mode, the historical operation path is determined as the boundary line of the area to be planned. It is to be understood that since the area of the region to be planned is smaller than the area of the target work region, which indicates that the electronic apparatus 100 has planned a work path for the target work region, the historical work path (L1 in fig. 6) may be acquired at this time, and the unmanned aerial vehicle performs the work in the first manner, so that the unmanned aerial vehicle can cover only the region outside the historical work path (the hatched region in fig. 6) when performing the work according to the historical work path, the historical work path is determined as the boundary line of the region to be planned (L1 in fig. 6) at this time as a basis for generating the next work path in order to avoid missing the work region.
Referring to fig. 7, if the operation mode of the unmanned operation device is the second mode, an edge line obtained by retracting the historical operation path inward by a preset operation distance is determined as the boundary line of the area to be planned. It is to be understood that since the area of the to-be-planned area is smaller than the area of the target work area, which indicates that the electronic device 100 has planned a work path for the target work area, the historical work path (L1 in fig. 7) can be acquired, and the unmanned aerial device performs the work in the second manner, so that the unmanned aerial device can cover the areas on both sides of the historical work path (the hatched area in fig. 7) when performing the work according to the historical work path, and therefore, in order to avoid causing repeated work to the area inside the historical work path, an edge line obtained by contracting the historical work path by the preset work distance inwards is determined as the boundary line of the to-be-planned area (L2 in fig. 7) as a basis for generating the next work path.
And S203, determining a current starting waypoint positioned in the boundary line according to the boundary line, the current position coordinate of the unmanned operation equipment and the preset operation distance.
In an alternative embodiment, the electronic device 100 may move a preset working distance in a direction where the boundary line approaches the center of the target working area with the current position coordinate as a starting point to obtain a current starting waypoint.
In order to minimize the distance between the current position coordinate of the unmanned aerial vehicle and the current start waypoint, in an alternative embodiment, the electronic device 100 may use the current position coordinate as a vertical line disposed on the boundary line, and move the current position coordinate as a starting point along the line toward the center of the boundary line in the direction close to the target operation area by a preset operation distance, so as to obtain the current start waypoint.
If the electronic device 100 already obtains the working path, the current position coordinates of the unmanned working device should be the coordinates of the start waypoint in the historical working path.
And S204, taking the current starting waypoint as a starting point, and inwards contracting the boundary line for a preset operation distance to obtain a current operation path.
It can be understood that the distance from each point on the current working path to the boundary line is a preset working distance.
It should also be noted that the current work path should be a closed shape. In the process of obtaining the current operation path, the current starting waypoint is taken as a starting point, the operation distance is searched inwards in any direction (clockwise or anticlockwise) by taking the boundary line as a reference, and then the next waypoint is obtained, and the like until a loop-shaped operation path (namely the starting point is consistent with the end point) is formed.
In an optional implementation manner, in order to further shorten the working path of the unmanned working device, referring to fig. 8, the path generating method provided by the present invention further includes:
and S205, if the area of the region surrounded by the current operation path is less than or equal to the preset area threshold, deleting the current operation path.
If the area of the area surrounded by the current working path is smaller than or equal to the preset area threshold, the area of the area is small, the area is not influenced even if the working is not carried out, and meanwhile, the current working path is directly deleted in order to further shorten the length of the working path of the unmanned working equipment.
And S206, if the area of the area surrounded by the current operation path is larger than a preset area threshold value and the area surrounded by the current operation path is not enough to generate the next-stage operation path, determining two end points of the current operation path.
The distance between the two end points is two ends of the longest inner diameter in the area surrounded by the current operation path.
If the area of the region surrounded by the current operation path is larger than the preset area threshold value and the unplanned region is not enough to generate the next-stage operation path, the region surrounded by the current operation path is a long and narrow region, so that repeated operation can be caused when the unmanned operation equipment operates according to the operation path.
S207, deleting the current job path and connecting the two end points to generate a new job path.
As can be understood, since the region surrounded by the current work path is a long and narrow region, when the unmanned working equipment performs work according to a new work path, the length of the work path can be shortened while covering the region surrounded by the current work path.
And S208, generating a transition path based on the current position coordinates and the current starting waypoint of the unmanned operation equipment.
It is to be understood that the transition path may be a path where the unmanned working device does not need to perform work. Although there may be a plurality of paths between the current position coordinate and the current start waypoint, in order to shorten the distance traveled by the unmanned aerial vehicle, the shortest path formed between the current position coordinate and the current start waypoint may be directly used as a transition path.
For example, when the unmanned aerial vehicle is an unmanned ship, and it is predetermined that the unmanned ship throws feed around the unmanned ship with a radius of 5 meters as a center, the electronic device 100 plans the operation path for the unmanned ship in the target operation area as follows (as shown in fig. 9):
firstly, determining an initial navigation point of a first-stage operation path according to a boundary line of a target operation area (the boundary line of the target operation area is directly determined as the boundary line of an area to be planned) and a current position coordinate of the unmanned ship, and taking the initial navigation point as a starting point and inwards contracting the boundary line for 5 meters to obtain the first-stage operation path; and since the unmanned ship sprays the water to the periphery, the area which extends 5 meters from the first-stage operation path to both sides can be covered by the operation area of the unmanned ship, so that the sideline obtained by retracting the first-stage operation path for 5 meters inwards again serves as the boundary between the unplanned area and the planned area, whether the unplanned area is larger than a preset area threshold value or not is judged, and the space of the unplanned area is enough for generating the next-stage operation path, if so, the boundary is used as the boundary of the area to be planned again, the starting waypoint of the second-stage operation path is determined again according to the boundary of the area to be planned and the starting waypoint of the first-stage operation path (the position of the unmanned ship at this time), and the boundary is retracted inwards for 5 meters to obtain the second-stage operation path … …, and so on until the area of the unplanned area is smaller than or equal to the preset area threshold value or the area of the planned area is larger than the preset area threshold value but the unplanned area is not enough to generate the unplanned area threshold value Until the next-stage operation path is formed, no new operation path is generated. At this time, all the generated work paths are deleted, and the work path in which the area of the region surrounded by the work paths is smaller than or equal to the preset area threshold value is deleted (e.g., the region S2 in fig. 9(a) is deleted, which becomes S2' in fig. 9 (b)); and optimizing the operation path of which the area of the enclosed area is larger than a preset area threshold and the unplanned area is not enough to generate the next-stage operation path into a line (for example, optimizing the area of S1 in fig. 9(a) to the area of S1' in fig. 9 (b)) in all the generated operation paths, so as to realize the optimization operation of the whole operation path in the target operation area. Then, the starting waypoints between each two adjacent stages of the working path are connected to form a transition path (for example, a broken line of the S3 'portion and the S4' portion in fig. 9 (c)). At this point, the path planning of the target working area by the electronic device 100 is completed.
For example, when the unmanned aerial vehicle is an unmanned ship and it is predetermined that the unmanned ship performs one-sided work only in a direction away from the center of the target work area, the electronic device 100 plans the work path in the target work area for the unmanned ship as follows:
determining an initial navigation point of a first-stage operation path according to a boundary line of a target operation area (the boundary line of the target operation area is directly determined as the boundary line of an area to be planned) and a current position coordinate of the unmanned ship, and taking the initial navigation point as a starting point and inwards contracting the boundary line for 5 meters to obtain the first-stage operation path; at this time, the area surrounded by the first-stage operation path is an unplanned area, so that whether the area of the area surrounded by the first-stage operation path is larger than a preset area threshold value or not is directly judged, and the space of the unplanned area is enough to generate a next-stage operation path, if so, the initial navigation point of the second-stage operation path is determined by the initial navigation point (the position of the unmanned ship at this time) of the first-stage operation path and the first-stage operation path, the second-stage operation path … … is obtained by retracting the first-stage operation path inwards for 5 meters, and the rest is repeated until the area of the area surrounded by a certain one-stage operation path is smaller than or equal to the preset area threshold value or the area of the planned area is larger than the preset area threshold value but the unplanned area is not enough to generate the next-stage operation path, and a new operation path is not generated. At this time, further optimization is performed to complete the path planning for the target working area.
In order to perform the corresponding steps in the above embodiments and various possible manners, an implementation manner of the path generating apparatus 200 is given below, and optionally, the path generating apparatus 200 may adopt the device structure of the processor 120 shown in fig. 1. Further, referring to fig. 10, fig. 10 is a functional block diagram of a path generating apparatus 200 according to an embodiment of the present invention. It should be noted that the basic principle and the technical effects of the path generating device 200 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. The path generation apparatus 200 includes: a determination module 210, a boundary line determination module 220, a starting waypoint determination module 230, a path generation module 240, and a path optimization module 250.
The determining module 210 is configured to determine whether an area to be planned exists in the target operation area.
It is understood that, in an alternative embodiment, the determining module 210 may be configured to execute S201 to implement the corresponding function.
The boundary line determining module 220 is used for determining the boundary line of the area to be planned.
In an alternative embodiment, the boundary line determining module 220 is specifically configured to determine the boundary line of the target operation region as the boundary line of the region to be planned if the area of the region to be planned is equal to the area of the target operation region, and determine the boundary line of the region to be planned according to the operation mode of the unmanned operation device and the historical operation path if the area of the region to be planned is smaller than the area of the target operation region.
It is to be understood that in an alternative embodiment, the boundary line determining module 220 may be configured to execute the steps S202, S2021, and S2022 to achieve the corresponding functions.
The starting waypoint determining module 230 is configured to determine a current starting waypoint located within the boundary line according to the boundary line, the current position coordinates of the unmanned aerial device, and the preset working distance.
It is to be appreciated that in an alternative embodiment, the starting waypoint determination module 230 may be operable to execute S203 to implement the corresponding functions.
The path generating module 240 is configured to take the current starting waypoint as a starting point, and shrink the boundary line inward by a preset working distance to obtain a current working path.
It is to be appreciated that in an alternative embodiment, the path generation module 240 may be configured to execute S204 to implement the corresponding function.
The path optimization module 250 is configured to delete the current working path if the area of the region surrounded by the current working path is smaller than or equal to a preset area threshold.
The path optimization module 250 is further configured to determine two end points of the current operation path, delete the current operation path, and connect the two end points to generate a new operation path if the area of the region surrounded by the current operation path is greater than the preset area threshold and the unplanned region is not enough to generate the next-stage operation path.
It is understood that in an alternative embodiment, the path optimization module 250 may be configured to execute S205, S206, and S207 to implement the corresponding functions.
The path generation module 240 is further configured to generate a transition path based on the current position coordinates of the unmanned aerial device and the current starting waypoint.
It is understood that in an alternative embodiment, the path generation module 240 may be configured to execute S208 to implement the corresponding function.
Alternatively, the above modules may be stored in the memory 110 shown in fig. 1 in the form of software or Firmware (Firmware) or may be solidified in an Operating System (OS) of the electronic device 100, and may be executed by the processor 120 in fig. 1. Meanwhile, data, codes of programs, etc. required to execute the above modules may be stored in the memory 110.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by the processor 120, implements the path generation method described above.
In summary, according to the path generating method, the apparatus, the electronic device, and the computer-readable storage medium provided in the embodiments of the present invention, when there is a to-be-planned area in a target operation area, a boundary line of the to-be-planned area is determined, a current start waypoint located in the boundary line is determined according to the boundary line, current position coordinates of the unmanned operation device, and a preset operation distance, and then the current operation path is obtained by inwardly contracting the preset operation distance from the current start waypoint as a starting point. Because the operation path is obtained based on inward contraction of the boundary line, different snake-shaped tracks do not need to be continuously generated according to the boundary line, the traditional path planning process can be simplified, the length of the operation path can be shortened, and therefore the purposes of improving the operation efficiency, saving the electric quantity and other energy consumption costs are achieved.
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 invention. 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, the functional modules in the embodiments of the present invention 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 invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 invention. 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.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A path generation method, characterized by comprising:
when a region to be planned exists in a target operation region, determining a boundary line of the region to be planned, wherein the target operation region is a complete region needing to be planned, and the region to be planned is a region which meets a planning condition in the target operation region;
determining a current starting waypoint positioned in the boundary line according to the boundary line, the current position coordinate of the unmanned operation equipment and a preset operation distance;
taking the current starting waypoint as a starting point, and inwards contracting the boundary line by the preset operation distance to obtain a current operation path;
if the area of the area surrounded by the current operation path is larger than a preset area threshold value and the area surrounded by the current operation path is not enough to generate a next-stage operation path, determining two end points of the current operation path, wherein the distance between the two end points is two ends of the longest inner diameter in the area surrounded by the current operation path;
and deleting the current work path and connecting the two end points to generate a new work path.
2. The path generation method according to claim 1, wherein the step of determining the boundary line of the area to be planned comprises:
if the area of the region to be planned is equal to the area of the target operation region, determining the boundary line of the target operation region as the boundary line of the region to be planned;
and if the area of the area to be planned is smaller than the area of the target operation area, determining a boundary line of the area to be planned according to the operation mode of the unmanned operation equipment and a historical operation path, wherein the historical operation path is a previous operation path of the current operation path.
3. The path generation method according to claim 2, wherein the step of determining the boundary line of the area to be planned according to the operation mode and the historical operation path of the unmanned operation equipment comprises:
if the operation mode of the unmanned operation equipment is a first mode, determining the historical operation path as a boundary line of the area to be planned, wherein the first mode is that the unmanned operation equipment performs single-side operation in a direction that the boundary of the target operation area deviates from the center of the target operation area;
and if the operation mode of the unmanned operation equipment is a second mode, determining a sideline obtained by retracting the historical operation path inwards by a preset operation distance as the borderline of the area to be planned, wherein the second mode is that the unmanned operation equipment performs double-side operation according to the direction that the boundary of the target operation area points to the center of the target operation area and the direction that the boundary of the target operation area deviates from the center of the target operation area.
4. The path generation method according to claim 1, wherein the step of determining a current start waypoint located within the boundary line based on the boundary line, current position coordinates of the unmanned aerial device, and a preset working distance comprises:
and moving the preset operation distance towards the direction of the boundary line close to the center of the target operation area by taking the current position coordinate as a starting point to obtain the current starting waypoint.
5. The path generation method according to any one of claims 1 to 4, wherein the target working area includes an unplanned area, and the unplanned area is an area that cannot be covered by a planned path in the target working area;
before the step of determining the boundary line of the area to be planned when the area to be planned exists in the target operation area, the method further includes:
if the area of the unplanned region is larger than a preset area threshold and the space of the unplanned region is enough to generate a next-stage operation path, determining that the region to be planned exists in the target operation region, and determining that the unplanned region is the region to be planned.
6. The path generation method according to claim 5, characterized in that the method further comprises:
if the area of the unplanned area is smaller than or equal to a preset area threshold, determining that no area to be planned exists in the target operation area;
and if the area of the unplanned area is larger than a preset area threshold value and the unplanned area is not enough to generate a next-stage operation path, determining that no area to be planned exists in the target operation area.
7. The method of any one of claims 1-4, wherein after the step of contracting the boundary line inward by the preset working distance to obtain the current working path starting from the current starting waypoint, the method further comprises:
and if the area of the region surrounded by the current operation path is less than or equal to a preset area threshold value, deleting the current operation path.
8. The path generation method according to any one of claims 1 to 4, characterized in that the method further comprises:
and generating a transition path based on the current position coordinates of the unmanned operation equipment and the current starting waypoint.
9. A path generation apparatus, characterized in that the path generation apparatus comprises:
the system comprises a boundary line determining module, a planning module and a planning module, wherein the boundary line determining module is used for determining a boundary line of a region to be planned when the region to be planned exists in a target operation region, the target operation region is a complete region needing to be planned, and the region to be planned is a region which meets a planning condition in the target operation region;
the starting waypoint determining module is used for determining a current starting waypoint positioned in the boundary line according to the boundary line, the current position coordinate of the unmanned operation equipment and a preset operation distance;
the path generation module is used for taking the current starting waypoint as a starting point and inwards contracting the boundary line by the preset working distance to obtain a current working path;
the path optimization module is used for determining two end points of the current operation path, deleting the current operation path and connecting the two end points to generate a new operation path if the area of a region surrounded by the current operation path is larger than a preset area threshold and an unplanned region is not enough to generate a next-stage operation path;
and the distance between the two end points is two ends of the longest inner diameter in the area surrounded by the current operation path.
10. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the path generation method of any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the path generation method according to any one of claims 1 to 8.
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| CN113970927B (en) * | 2021-09-30 | 2022-12-27 | 广州极飞科技股份有限公司 | Method and device for acquiring operation starting point and electronic equipment |
| CN114485610B (en) * | 2021-12-27 | 2023-07-18 | 广州极飞科技股份有限公司 | Vector map construction method and device and path planning method and device |
| CN114298404B (en) * | 2021-12-27 | 2023-04-18 | 广州极飞科技股份有限公司 | Road segment and route generation method, device, equipment and computer readable storage medium |
| CN114485664B (en) * | 2021-12-30 | 2022-12-27 | 广州极飞科技股份有限公司 | Boundary simplifying method, path planning method, device, equipment and system |
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| CN106547276B (en) * | 2016-10-19 | 2019-07-26 | 上海圣尧智能科技有限公司 | Automatic spraying rectangular-ambulatory-plane paths planning method and fog machine spraying operation method |
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