CN111964683A - Spraying path planning method and device - Google Patents
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Abstract
The invention provides a spraying path planning method and a device, which relate to the technical field of unmanned aerial vehicle application and comprise the steps of determining the type of a current path based on the waypoint distance in the current path, wherein the type comprises a spraying flight section and a transition flight section, the waypoint is a flight section endpoint, and the transition flight section arranged between the spraying flight sections is used for connecting and transitioning the spraying flight sections; optimizing the transition flight according to the distribution attributes of the spraying flight and the transition flight to obtain a new transition flight, wherein the distribution attributes comprise the non-parallel or parallel conditions of the spraying flight and the comparison between the length of the transition flight and a length threshold; based on the new transition flight segment and spray flight segment, path planning is carried out so that the operation mechanism can execute spraying operation according to the planned path, the transition flight segment and the spraying flight segment are distinguished, and the transition flight segment is optimized to realize that the unmanned aerial vehicle rapidly finishes the transition flight segment, so that the spraying efficiency of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of automatic control equipment application, in particular to a spraying path planning method and a spraying path planning device.
Background
Plant protection unmanned aerial vehicle's automatic control equipment need fly the operation according to the route that plans in advance when the operation, in order to cover complete operation plot, generally will connect a plurality of operation line sections of treating through the tie point, and unmanned aerial vehicle will need slow down and stop completely on the tie point of treating between the operation line section, then advance along the next operation line section of treating with higher speed, this kind of unmanned aerial vehicle operation mode efficiency is lower.
In addition, because unmanned aerial vehicle's spraying width (spray width) receives the restriction (e.g. 3-5m), need satisfy certain distance interval between two waiting to operate the line segments for unmanned aerial vehicle equipment can pass through, consequently will contain many short line segments in the unmanned aerial vehicle execution path that covers the operation plot, and such short line segment can further influence unmanned aerial vehicle's the efficiency of spraying.
Disclosure of Invention
The invention aims to provide a spraying path planning method and a spraying path planning device, which can realize that an unmanned aerial vehicle can quickly finish a transition flight section by distinguishing the transition flight section from a spraying flight section and optimizing the transition flight section so as to improve the spraying efficiency of the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides a spray path planning method, which is applied to an automatic control device, and includes:
determining the type of a current path based on waypoint distances in the current path, wherein the type comprises a spraying flight section and a transition flight section, the waypoints are the flight section endpoints, and the transition flight section arranged between the spraying flight sections is used for connecting and transitioning the spraying flight sections;
optimizing the transition flight segment according to the distribution attributes of the spraying flight segment and the transition flight segment to obtain a new transition flight segment, wherein the distribution attributes comprise the non-parallel or parallel condition of the spraying flight segment and the comparison condition of the length of the transition flight segment and a length threshold value;
and planning a path based on the new transition flight and the spraying flight so as to enable an operation mechanism to execute spraying operation according to the planned path.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the current path includes at least two adjacent leg segments, and the step of determining the type of the current path based on waypoint distances in the current path includes:
if the distance between adjacent waypoints respectively belonging to two adjacent waypoints in the current path is less than a distance threshold, the waypoint between the two waypoints is a transition waypoint, and the two waypoints are non-independent connection points;
if the distance between the adjacent waypoints respectively belonging to the two adjacent waypoints in the current path is greater than the distance threshold, the waypoint between the two waypoints is a spraying waypoint, and the two waypoints are independent connection points.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the step of optimizing the transition leg according to the spraying leg and the transition leg distribution attribute to obtain a new transition leg includes:
if the adjacent spraying legs are intersected, replacing an intersection point between the spraying legs by a curve arc, wherein the curve arc is determined based on an included angle between the spraying legs and the maximum arc radius;
and obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the step of optimizing the transition leg according to the spraying leg and the transition leg distribution attribute to obtain a new transition leg includes:
if the adjacent spraying flights are parallel, and the length of a transition flight connecting the spraying flights is equal to the spraying width, replacing the transition flight between the adjacent spraying flights by a curve arc, wherein the curve arc is an arc line of 180 degrees;
and obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the step of optimizing the transition leg according to the spraying leg and the transition leg distribution attribute to obtain a new transition leg includes:
if the extension lines of the adjacent spraying legs are intersected, connecting the adjacent spraying legs through a curve arc, wherein the curve arc is determined based on the included angle of the extension lines of the two spraying legs and the intersection point of the extension lines of the spraying legs;
and obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the step of determining the curved arc based on an included angle between two extension lines of the spraying leg and an intersection point of the extension lines of the spraying leg includes:
according to the waypoints of the spraying legs and the intersection points of the extended lines of the spraying legs, respectively determining a first distance and a second distance between the waypoint which is closer to the intersection point in the two spraying legs and the intersection point;
judging whether the first distance and the second distance are equal;
if the distance is equal to the first distance, determining the radius of the curve arc based on a geometric principle, the first distance or the second distance and an included angle of the extension line of the spraying flight section;
and if the distances are unequal, determining the radius of the curve arc based on a geometric principle, any distance between the first distance and the second distance and an included angle of the extension line of the spraying flight.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the step of determining the curved arc based on an included angle between the spraying leg and the spraying leg extension line and an intersection point of the spraying leg extension line includes:
and if the distances are unequal, determining the radius of the curve arc based on a geometric principle, the longer distance between the first distance and the second distance and the included angle of the extension line of the spraying flight.
With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the method further includes:
obtaining the distance deviating from the transformation point according to the difference between the distance of the center of the curve arc and the intersection point of the spraying flight section and the radius of the arc;
determining a maximum arc radius based on the distance from the transition point and a maximum deviation distance threshold.
With reference to the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, where the method further includes:
and defining each flight section in the current path through vector coordinates based on the flight section attribute of the current path so as to enable the operation mechanism to execute spraying operation according to the definition result of the flight section.
In a second aspect, an embodiment of the present invention further provides a spray path planning apparatus, which is applied to an automatic control device, and includes:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining the type of a current path based on waypoint distances in the current path, the type comprises spraying legs and transition legs, and the transition legs arranged between the spraying legs are used for connecting and transitioning the spraying legs;
the optimization module is used for optimizing the transition flight section according to the distribution attributes of the spraying flight section and the transition flight section to obtain a new transition flight section, wherein the distribution attributes comprise the non-parallel or parallel conditions of the spraying flight section and the comparison conditions of the length of the transition flight section and a length threshold value;
and the planning module is used for planning a path based on the new transition flight and the spraying flight so as to enable an operation mechanism to execute spraying operation according to the planned path.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
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 embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a spray path according to an embodiment of the present invention;
FIG. 2 is a schematic view of another spray path provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a scene to be operated according to an embodiment of the present invention;
fig. 4 is a flowchart of a spraying path planning method according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a path planning provided in the embodiment of the present invention;
FIG. 6 is a second schematic diagram of path planning according to the embodiment of the present invention;
FIG. 7 is a third schematic diagram of a path planning provided by the embodiment of the present invention;
FIG. 8 is a fourth schematic diagram of path planning according to the embodiment of the present invention;
FIG. 9 is a schematic diagram of a path deviation distance provided by an embodiment of the present invention;
fig. 10 is a functional block diagram of a spray path planning apparatus according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Currently, the path planned by drones to cover a work parcel is generally made up of connected straight segments, as shown in fig. 1. The drone would need to stop completely at the connection points p1 and p2 between straight segments and then accelerate to travel the next straight segment. Since the spray width (swath) of a drone is limited (e.g., 3-5m), the path covering the work area will contain many short segments (e.g., segment p1p2), and drone operation is generally accomplished in the following two ways.
First, taking the segments p0p1, p1p2 and p2p3 as an example, as the drone approaches p1, it needs to stop itself at p1 (reducing the longitudinal velocity vx to 0) and then accelerate laterally (increasing to the lateral velocity vy) to move along p1p 2. The drone will then stop itself again at p2 (reducing vy to 0) and then accelerate longitudinally (increasing to vx) moving along p2p 3. This movement greatly reduces the speed of the drone, wasting energy, as the drone needs to be repeatedly braked and accelerated for this short line transition. In general, the segments p0p1 and p2p3 are referred to as row segments and the segment p1p2 is referred to as a transition segment. Since the path of a work site includes many such short transitions, the time and effort spent greatly affects the efficiency of the drone.
Another approach may also involve the drone rotating while between p1 and p 2. But this method also requires that the drone be stopped completely at p1 and p 2. The unmanned aerial vehicle works along P0P1, P1P2 and P2P3, the unmanned aerial vehicle works along P0P1 at a flying speed v, when the unmanned aerial vehicle reaches the P0P1 center position, the unmanned aerial vehicle starts to decelerate until the P1 point, the speed of the unmanned aerial vehicle is 0, at the moment, the unmanned aerial vehicle rotates at an angular speed omega, accelerates to the P1P2 center position at an acceleration a, then decelerates to the P2 position at the acceleration a, the speed of the unmanned aerial vehicle is 0, the unmanned aerial vehicle accelerates to the P2P3 midpoint position from the P2 point, and the speed at the moment is the flying speed v.
In addition, the work piece may have an irregular shape, resulting in more connections of line segments (see fig. 2 below). To perform this task, the drone would need to stop at these connection points p1, p4, and then accelerate again to fly along the next segment. Such braking (stopping) and acceleration can reduce overall speed, waste energy, and reduce efficiency.
In addition, some work areas (e.g., tea fields, terraces, etc. as shown in fig. 3) may not be able to work through straight line connections. The outline of a straight line segment of the tea tree row may exhibit a number of short line segments, at least in certain areas. As mentioned above, such short segments also require frequent braking and acceleration of the drone, which requires the drone to be stopped completely to move from one straight segment to another, which results in wasted energy, more operating time and lower efficiency.
Based on this, the method and the device for planning the spraying path provided by the embodiment of the invention realize that the unmanned aerial vehicle rapidly completes the transition flight segment by distinguishing the transition flight segment from the spraying flight segment and optimizing the transition flight segment, so as to improve the spraying efficiency of the unmanned aerial vehicle.
To facilitate understanding of the present embodiment, a detailed description will be given to a spraying path planning method disclosed in the present embodiment.
Fig. 4 is a flowchart of a spraying path planning method according to an embodiment of the present invention.
The spraying path planning method provided by the embodiment of the invention is suitable for automatic control equipment, including unmanned agricultural machinery, aerial autonomous aircrafts (such as unmanned aircrafts), ground autonomous driving vehicles (unmanned vehicles) and the like, and comprises the following steps, referring to fig. 4:
step S102, determining the type of the current path based on the waypoint distance in the current path, wherein the type comprises a spraying flight section and a transition flight section, the waypoint is the end point of the flight section, and the transition flight section arranged between the spraying flight sections is used for connecting and transitioning the spraying flight sections;
s104, optimizing the transition flight segment according to the distribution attributes of the spraying flight segment and the transition flight segment to obtain a new transition flight segment, wherein the distribution attributes comprise the non-parallel or parallel conditions of the spraying flight segment and the comparison conditions of the length of the transition flight segment and a length threshold value;
and S106, planning a path based on the new transition flight and the spraying flight so that an operation mechanism executes spraying operation according to the planned path.
In practical application's preferred embodiment, divide into through the waypoint distance in the route and spray flight and the transition flight to optimize the transition flight, and then make unmanned aerial vehicle can not waste too much time or produce too much action at the transition flight, and then influence and spray efficiency, the transition flight and the section of spraying flight based on this optimization carry out the route planning, so that the operation mechanism sprays the operation.
As an embodiment, in the plant protection, in the spraying flight and the transition flight, the spraying flight and the transition flight are transited through arcs (straight sections are connected by using curves), the speed of the spraying flight and the transition flight can be maintained or the speed of the spraying flight and the transition flight is moderately reduced to pass through smooth curves, so that the energy waste and the time required for executing tasks are reduced, an Unmanned Aerial Vehicle (UAV) does not need to stop at the connection of the straight sections, the spraying coverage rate is ensured to the maximum extent while the operation efficiency is improved, the operation effect and the operation efficiency are considered, and the plant protection is more efficient.
It should be noted that, instead of a straight line, a circular arc as shown in the embodiment of the present invention may be replaced by another curve (e.g., a spline curve or a plurality of connected arcs).
In some optional embodiments, the current path includes at least two adjacent legs, step S102, including the steps of:
step 1.1), if the distance between adjacent waypoints respectively belonging to two adjacent waypoints in the current path is less than a distance threshold, the waypoint between the two waypoints is a transition waypoint, and the two waypoints are non-independent connection points;
the method comprises the following steps of optimizing the two non-independent connecting points into the same curve arc in the subsequent step; step 1.2), if the distance between the adjacent waypoints respectively belonging to the two adjacent waypoints in the current path is greater than the distance threshold, the waypoint between the two waypoints is a spraying waypoint, and the two waypoints are independent connection points.
Wherein each independent connection point can be optimized as a curved arc in subsequent steps based on the two independent connection points;
in an optional embodiment, the distance between adjacent waypoints belonging to two adjacent legs is 0, that is, the adjacent waypoints of the two adjacent legs are the same, and at this time, the two adjacent legs intersect, the waypoint is an independent connection point, wherein the waypoint is optimized to be a curved arc in the subsequent step based on the independent connection point; the specific optimization method in step S104 further includes the following steps:
step 2.1), if the adjacent spraying legs are intersected, replacing the intersection point between the spraying legs by a curve arc, wherein the curve arc is determined based on the included angle between the spraying legs and the maximum arc radius;
and 2.2) obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
In one embodiment, the current path is first generated using connected spray legs, and then the connection points of these spray legs are replaced with curvilinear arcs to provide a smooth transition between the legs. For example, a path is first generated that contains spray legs AB and BC, with point B being an independent connection point, as shown in fig. 5. Arc B1B2 is created to provide a smooth transition between line segments AB1 and B2C. The intersection of the curved arc with the spray leg (position of B1 and B2) can be determined by moving B in the A and C directions by a length L, respectively. Length of
Where α is the angle between AB and BC and r is the desired maximum arc radius. Thus, the currently planned path consists of two segments and an arc: segment AB1, arc B1B2, and segment B2C.
Here, the inventors studied that, with the velocity v kept constant, the smaller the arc radius r, the larger the angular velocity w and the lateral acceleration (i.e., the larger roll angle), the smaller the length of the arc, and thus the shorter the duration of the arc. This means that the drone needs to rapidly deploy a large roll and large spin to fly in an arc path, then rapidly return the roll to 0 and stop spinning to exit the arc. This would create an unnecessary snap action. The smaller the arc radius r, the smaller the velocity v, with the angular velocity w remaining constant. This means that the drone will generally need to slow down and fly in an arc at a lesser speed and cause more energy loss. Therefore, it is preferable that the radius r of the circular arc of the present invention is as large as possible. Further, for transitions between straight line segments, selecting a larger r may avoid creating a larger unsprayed area. Based on this, the radius r of the arc is chosen to be closer to Rmax.
In some preferred embodiments, Rmax, which does not produce non-sprayed regions, can be determined by the maximum deviation distance D between the curved arc and the connection point, as follows:
step 3.1), obtaining the distance deviating from the transformation point according to the difference between the distance of the intersection point of the circle center of the curve arc and the spraying flight segment and the radius of the arc;
step 3.2), determining the maximum circular arc radius based on the distance from the transition point and the maximum deviation distance threshold value.
Further, as shown in fig. 9, in order to prevent more non-spraying areas caused by too large deviation distance, the circular arc radius R in the planning process needs to be less than or equal to Rmax. Wherein R ismaxThe following were used:
wherein D is the maximum deviation distance, DmaxIs the maximum deviation distance threshold, R is the arc radius, alpha is the included angle of the spraying flight segment, RmaxIs the maximum arc radius.
In some optional embodiments, step S104 may be further implemented by:
step 4.1), if the adjacent spraying legs are parallel and the length of a transition leg connecting the spraying legs is equal to the spraying width, replacing the transition leg between the adjacent spraying legs by a curve arc, wherein the curve arc is a 180-degree arc;
and 4.2) obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
In actual path planning and unmanned aerial vehicle spraying application, spray the flight and mostly present parallel distribution state between the flight, generally regard short segment as the changeover portion between two sections of going (spraying flight). In order to improve the operation efficiency and obtain a parallel spraying flight section and a transition flight section, the spraying flight section is taken as a tangent line, and 180-degree arc transition is determined by using the radius r, so that the transition between two line sections can be replaced by one 180-degree arc; to ensure efficient operation of the spray, the radius of the arc r may be selected to be half the spray width (the spray width is equal to the distance between the row segments), which may result in heavy spray if the spray width is greater than the row spacing, and in missed spray if the spray width is less than the row spacing, as shown in fig. 6 below. Since arc B1B2C2 is a 180 degree arc, the planned path consists of two segments and an arc: AB1, arc B1C2 and C2D.
As another possible embodiment, if the distance between the waypoints belonging to the two legs respectively in the current path is greater than the distance threshold, the leg between the two waypoints is the spraying leg, and the two adjacent spraying legs are not parallel, as shown in fig. 7, at this time, the distance between BC is greater, if an arc is replaced between BC, the radius of the arc exceeds the maximum arc radius, therefore, B and C are independent connection points, BC is also defined as the spraying leg, at this time, a new transition section is generated between AB and BC through the above steps, and a new transition section is generated between BC and CD through the above steps.
In some optional embodiments, step S104 may be further implemented by the following steps, including:
step 5.1), if the extension lines of the adjacent spraying legs are intersected, connecting the adjacent spraying legs through a curve arc, wherein the curve arc is determined based on the included angle of the extension lines of the two spraying legs and the intersection point of the extension lines of the spraying legs;
and 5.2) obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
Wherein, step 5.1) includes:
step 5.1.1), respectively determining a first distance and a second distance between a waypoint closer to the intersection point and the intersection point in the two spraying legs according to the waypoint of the spraying legs and the intersection point of the extension lines of the spraying legs;
step 5.1.2), judging whether the first distance and the second distance are equal;
step 5.1.3), if the two distances are equal, determining the radius of the curve arc based on a geometric principle, the first distance or the second distance and an included angle of the extension line of the spraying flight section;
and 5.1.4), if the distances are different, determining the radius of the curve arc based on a geometric principle, any distance between the first distance and the second distance and an included angle of the extended line of the spraying flight section.
In a further embodiment, the radius r is variable and may be determined based on the line segment that needs to be smoothly connected. The adjacent spraying flight sections are non-parallel, and the non-parallel spraying flight sections are taken as tangent lines to make curve transition. Fig. 8 shows an example where segments AB and CD need to make a smooth transition between B and C, B, C (distance between BC is less than distance threshold) being a non-independent connection point, radius r being determined from the two non-independent connection points, radius r being variable. To generate such a smooth transition, it may first be calculated by determining the intersection X of the line segments AB and CD, where BX is a first distance L1 and CX is a second distance L2. If the two distances are the same, the arc radius r may be determined as:
r＝L1*tan(0.5*α)＝L2*tan(0.5*α)
wherein alpha is the angle between the extensions of AB and CD.
When the two distances L1 and L2 are not the same, any distance between L1 and L2 can be used to determine new points B1 and C1 and the connecting arc. If L — L1 is selected, a new point C1 is determined because the distance between X and C1 is L. Then, the radius of the connecting arc BC 1: r-L1 tan (0.5 α). If L-L2 is selected, a new point B1 is determined because the distance between X and B1 is L-L2. Radius of connecting arc B1C: r-L2 tan (0.5 α). In the actual planning process, L may take any value between L1 and L2, B1 and C1 are determined such that the length of XB1 and the length of XC1 are both equal to L, and the radius of circular arc B1C2 is r ═ L × (0.5 ×) tan.
In some optional embodiments, in order to improve the spraying efficiency of the unmanned aerial vehicle as much as possible and make the radius of the arc close to the maximum radius of the arc, the step of determining the curved arc in step 5.1) based on the intersection point of the spraying segment extension line and the included angle between the spraying segment and the spraying segment extension line comprises:
and 5.1.5), if the distances are different, determining the radius of the curve arc based on a geometric principle, the longer distance between the first distance and the second distance and the included angle of the extended line of the spraying flight.
Here, the radius of the arc corresponding to the arc determined based on the longer distance of the first distance and the second distance is relatively large, and fig. 8 may be specifically referred to.
In another embodiment, if the arc radius resulting from the longer distance of fig. 8 is too large, exceeding the maximum arc radius, then B and C will automatically be treated as separate connection points, the specific optimization being shown in fig. 7.
It should be noted that the path planning in the embodiment of the present invention indicates which are the line segments (spraying segments) and which are the transition segments between the line segments. Even if no indication is provided in the embodiment of the present invention, it is possible to check whether the middle line segment can be replaced with the circular arc based on Rmax and the distance of the line segment. For fig. 5 and 8, it is possible to represent a case where the line segment (non-transition segment) is too long to be replaced with a circular arc, and then, the transition portion between the connected straight line segments is replaced with a circular arc.
It should be noted that the flight speed of the new transition flight segment in one embodiment of the present invention is smaller than or equal to the flight speed of the spraying flight segment, so as to ensure the spraying effect and flight stability. Generally, the flying speed can be determined by a user or automatically based on an algorithm, which is not limited herein.
Furthermore, in another embodiment of the present invention, the spraying flow rate of the new transition flight segment is smaller than the spraying flow rate of the spraying flight segment, so as to avoid the problems of more spraying phytotoxicity and poor spraying effect in the spraying operation, and the consistency of the spraying amount can be ensured by reducing the spraying flow rate of the new transition flight segment, thereby ensuring the operation accuracy. The spraying flow is determined by the spraying amount, the spraying amplitude and the flying speed, generally, the spraying amount and the spraying width can be determined by a user, and then the spraying flow can be automatically updated according to the flying speed, so that the uniformity of the spraying amount is improved, and the spraying effect is improved.
The flight speed, the spraying flow, the arc radius and the like of the newly-generated transition flight section can be adaptively adjusted, so that the coverage rate and the efficiency of spraying operation are ensured, and the overall spraying effect is improved.
In some preferred embodiments, the method further comprises:
and 6.1) defining each flight section in the current path through vector coordinates based on the flight section attribute of the current path so as to enable the operation mechanism to execute spraying operation according to the definition result of the flight sections.
The job task may include, among other things, flight segment attributes to distinguish line segments from curve segments. For example, a task may be defined by a vector of points A, B1, B2, C, etc.; each point not only has its location information (e.g., longitude and latitude if global coordinates are used; north and east if local coordinates are used), but also has a leg attribute (e.g., 0 or 1) indicating that the leg from this point is a line segment (or curvilinear segment).
For example, as shown in fig. 5, the leg attribute of a is 0 (i.e., AB1 is a line segment), the leg attribute of B1 is 1 (i.e., B1B2 is a curved line segment), and the leg attribute of B2 is 0(B2C is a line segment). In some embodiments, a point with a leg attribute of 1 (a curved line segment) may also be defined as a radius or a center of a turn (i.e., the origin of a circular arc). Such information may be available to the drone for flight along line or curve segments.
In practice, the purpose of defining according to the flight attributes is to make the working mechanism aware of how to go from one point to another. For example, in fig. 5, how the work implement transitions from B1 to B2 should follow an arc connecting B1 and B2, or should follow a straight line between B1 and B2, the work implement may determine whether to follow a straight line or an arc depending on the circumstances defined by the leg attributes.
As an alternative embodiment, the leg attributes may be defined in the waypoint at which the leg starts. For example, the leg attribute for the segment B1B2 is defined in B1 (i.e., B1 is the start of the segment). The leg attribute of segment B2C (i.e., B2 is the starting point of segment B2C) is defined in B2. The leg attribute of a waypoint defines only the line segment between that waypoint and its next waypoint. It does not matter whether the next waypoint is the start of a straight line segment or an arc segment.
As shown in fig. 7, determining B, C as an independent connection point (the distance between the non-transition segments AB and BC is greater than the set value and cannot be replaced by an arc), a task may be defined by vectors of points a, B1, B2, C, etc.; each point not only has its location information (e.g., longitude and latitude if global coordinates are used; north and east if local coordinates are used), but also has leg attributes (e.g., 0 (or 1) indicates that the leg from this point is a segment (or curve segment). a has a leg attribute of 0 (i.e., AB1 is a segment), B1 has a leg attribute of 1 (i.e., B1B2 is a curve segment), and B2 has a leg attribute of 0(B2C is a segment). thus, it can be determined from fig. 7 that the resulting path is made up of segments AB1, B2C1, and C2D, between which segments B1B2 and C1C2 are connected.
The spraying path planning method provided by the embodiment of the invention determines the curve flight path based on the spraying flight segment and the transition flight segment so as to improve the spraying operation efficiency. When planning a path, generally planning a parallel path as a spraying flight segment, and planning a transition flight segment at one end of two adjacent parallel paths; when an irregular plot is met, a non-parallel path can appear, for the non-parallel path, if the distance between two waypoints is small, the non-parallel path is considered to be a transition waypoint, if the distance between the two waypoints is overlarge, the non-transition waypoint is considered to be a spraying waypoint, and at the moment, the waypoint between the two waypoints is a spraying waypoint. The spraying navigation section and the transition navigation section and the maximum turning radius Rmax are obtained, and then a curve transition path is determined, so that the operation mechanism can not waste too much time or generate too much action in the transition navigation section, the spraying efficiency is further influenced, meanwhile, the adaptability of the operation structure is convenient to change the spraying flow when the transition navigation section is used, and the spraying consistency is improved.
When spraying the flight segment, the execution sprays the flight segment of operation, unmanned aerial vehicle sprays the task at this flight segment execution, this flight segment is including spraying width a, its direction is the unmanned aerial vehicle fuselage and extends a 2 width for the axial both sides, so when carrying out the task along spraying the flight segment flight, make to spray the flight segment and all can spray the within range to both sides extension 1/2a width within range as the center, generally, spray for parallel arrangement between the flight segment for two are adjacent, in order to avoid respraying and leaking to spout. In the embodiment of the invention, the newly-generated transition flight section is connected with two adjacent spraying flight sections to realize a curved operation path, so that a spraying task is quickly and efficiently executed in a plot, and the flight speed, the spraying flow, the arc radius and the like of the newly-generated transition flight section are adaptively adjusted based on the spraying mu amount, so that the spraying efficiency and the spraying effect of an operation mechanism during transition can be improved, and the coverage rate of spraying operation can be improved.
In the actual application process, the optimization of the transition flight segment can be real-time by the spraying path planning method provided by the embodiment of the invention, so that the new transition flight segment is obtained. Along with the unmanned aerial vehicle in flight, can optimize in real time and establish new born transition flight to next and spray the flight to realize online use. The spraying flight section and the transition flight section are obtained in advance, advance planning is not needed, and the operation efficiency is improved.
Further, as shown in fig. 10, an embodiment of the present invention further provides a spray path planning apparatus, which is applied to an automatic control device, and includes:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining the type of a current path based on waypoint distances in the current path, the type comprises spraying legs and transition legs, and the transition legs arranged between the spraying legs are used for connecting and transitioning the spraying legs;
the optimization module is used for optimizing the transition flight section according to the distribution attributes of the spraying flight section and the transition flight section to obtain a new transition flight section, wherein the distribution attributes comprise the non-parallel or parallel conditions of the spraying flight section and the comparison conditions of the length of the transition flight section and a length threshold value;
and the planning module is used for planning a path based on the new transition flight and the spraying flight so as to enable an operation mechanism to execute spraying operation according to the planned path.
The spraying path planning device provided by the embodiment of the invention has the same technical characteristics as the spraying path planning method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The method for planning a spray path and the computer program product of the apparatus provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the spray path planning method provided in the above embodiment are implemented.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the spray path planning method in the above embodiment are performed.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A spray path planning method is applied to automatic control equipment and comprises the following steps:
determining the type of a current path based on waypoint distances in the current path, wherein the type comprises a spraying flight section and a transition flight section, the waypoints are the flight section endpoints, and the transition flight section arranged between the spraying flight sections is used for connecting and transitioning the spraying flight sections;
optimizing the transition flight segment according to the distribution attributes of the spraying flight segment and the transition flight segment to obtain a new transition flight segment, wherein the distribution attributes comprise the non-parallel or parallel condition of the spraying flight segment and the comparison condition of the length of the transition flight segment and a length threshold value;
and planning a path based on the new transition flight and the spraying flight so as to enable an operation mechanism to execute spraying operation according to the planned path.
2. The spray path planning method of claim 1 wherein the current path includes at least two adjacent legs, the step of determining the type of the current path based on waypoint distances in the current path comprising:
if the distance between adjacent waypoints respectively belonging to two adjacent waypoints in the current path is less than a distance threshold, the waypoint between the two waypoints is a transition waypoint, and the two waypoints are non-independent connection points;
if the distance between the adjacent waypoints respectively belonging to the two adjacent waypoints in the current path is greater than the distance threshold, the waypoint between the two waypoints is a spraying waypoint, and the two waypoints are independent connection points.
3. The spray path planning method according to claim 1, wherein the step of optimizing the transition leg according to the spray leg and the transition leg distribution attribute to obtain a new transition leg comprises:
if the adjacent spraying legs are intersected, replacing an intersection point between the spraying legs by a curve arc, wherein the curve arc is determined based on an included angle between the spraying legs and the maximum arc radius;
and obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
4. The spray path planning method according to claim 1, wherein the step of optimizing the transition leg according to the spray leg and the transition leg distribution attribute to obtain a new transition leg comprises:
if the adjacent spraying flights are parallel, and the length of a transition flight connecting the spraying flights is equal to the spraying width, replacing the transition flight between the adjacent spraying flights by a curve arc, wherein the curve arc is an arc line of 180 degrees;
and obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
5. The spray path planning method according to claim 1, wherein the step of optimizing the transition leg according to the spray leg and the transition leg distribution attribute to obtain a new transition leg comprises:
if the extension lines of the adjacent spraying legs are intersected, connecting the adjacent spraying legs through a curve arc, wherein the curve arc is determined based on the included angle of the extension lines of the two spraying legs and the intersection point of the extension lines of the spraying legs;
and obtaining a new transition flight segment according to the intersection point of the curve arc and the spraying flight segment.
6. The spray path planning method according to claim 5, wherein the step of determining the curved arc based on an angle between extensions of the two spray legs and an intersection of the extensions of the spray legs comprises:
according to the waypoints of the spraying legs and the intersection points of the extended lines of the spraying legs, respectively determining a first distance and a second distance between the waypoint which is closer to the intersection point in the two spraying legs and the intersection point;
judging whether the first distance and the second distance are equal;
if the distance is equal to the first distance, determining the radius of the curve arc based on a geometric principle, the first distance or the second distance and an included angle of the extension line of the spraying flight section;
and if the distances are unequal, determining the radius of the curve arc based on a geometric principle, any distance between the first distance and the second distance and an included angle of the extension line of the spraying flight.
7. The spray path planning method according to claim 6, wherein the step of determining the curved arc based on the angle between the spray leg and the spray leg extension and the intersection of the spray leg extension comprises:
and if the distances are unequal, determining the radius of the curve arc based on a geometric principle, the longer distance between the first distance and the second distance and the included angle of the extension line of the spraying flight.
8. A spray path planning method according to claim 3, characterized in that the method further comprises:
obtaining the distance deviating from the transformation point according to the difference between the distance of the center of the curve arc and the intersection point of the spraying flight section and the radius of the arc;
determining a maximum arc radius based on the distance from the transition point and a maximum deviation distance threshold.
9. The spray path planning method of claim 1, further comprising:
and defining each flight section in the current path through vector coordinates based on the flight section attribute of the current path so as to enable the operation mechanism to execute spraying operation according to the definition result of the flight section.
10. A spray path planning device is applied to automatic control equipment and comprises:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining the type of a current path based on waypoint distances in the current path, the type comprises spraying legs and transition legs, and the transition legs arranged between the spraying legs are used for connecting and transitioning the spraying legs;
the optimization module is used for optimizing the transition flight section according to the distribution attributes of the spraying flight section and the transition flight section to obtain a new transition flight section, wherein the distribution attributes comprise the non-parallel or parallel conditions of the spraying flight section and the comparison conditions of the length of the transition flight section and a length threshold value;
and the planning module is used for planning a path based on the new transition flight and the spraying flight so as to enable an operation mechanism to execute spraying operation according to the planned path.
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