CN111984026A - Control method and device of unmanned aerial vehicle - Google Patents
Control method and device of unmanned aerial vehicle Download PDFInfo
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- CN111984026A CN111984026A CN201910433233.3A CN201910433233A CN111984026A CN 111984026 A CN111984026 A CN 111984026A CN 201910433233 A CN201910433233 A CN 201910433233A CN 111984026 A CN111984026 A CN 111984026A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The application provides a control method and a control device for an unmanned aerial vehicle, wherein the method comprises the following steps: acquiring digital earth surface data and digital terrain data of an area to be operated; the digital earth surface data and the digital terrain data comprise coordinate values and elevation values; dividing the area to be operated according to the digital earth surface data and the digital terrain data to obtain units to be operated in the area to be operated; matching the coordinate values of the unit to be operated with the digital earth surface data to obtain an elevation value in the unit to be operated; and planning the route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated so as to realize the unmanned aerial vehicle route planning of the tea garden plant protection and improve the tea garden plant protection effect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method and a control device for an unmanned aerial vehicle.
Background
The traditional manual pesticide spraying method for tea gardens is the most commonly adopted pesticide application mode in China when tea farmers carry pesticide cases and spray pesticides on crops while walking. However, the pesticide has great harm to human body, so that fewer tea growers can manually work, and the problems of labor shortage, low working efficiency, high cost, high management difficulty and the like in the aspect of spraying the pesticide in the tea garden are caused.
In the correlation technique, in order to solve the problem of artifical pesticide that sprays, adopted unmanned aerial vehicle plant protection operation. However, the problem that exists among the related art is, the hilly area slope of planting tea tree is steep or terraced fields tea garden laxative machine can't get into, judge inaccurate to topography and crop self height, volume when manual control plant protection unmanned aerial vehicle operation, lead to unmanned aerial vehicle can not be according to actual topography fluctuation adjustment flying height and direction, cause easily to miss to spout, the problem such as heavy spray, automatic plant protection unmanned aerial vehicle is according to RTK (Real-time kinematic), the fixed point course laxative is efficient than manual laxative, it is more efficient convenient than laxative machine laxative and manual control plant protection unmanned aerial vehicle, the shortcoming needs artifical handheld RTK equipment to the beginning of every ridge tea tree, end and turning department obtain coordinate information data, for the great tea garden of scope, the labour demand is also very big.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first purpose of the invention is to provide a control method of an unmanned aerial vehicle, so as to realize unmanned aerial vehicle route planning of tea garden plant protection and improve the tea garden plant protection effect.
The second purpose of the invention is to provide a control device of the unmanned aerial vehicle.
A third object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling an unmanned aerial vehicle, including: acquiring digital earth surface data and digital terrain data of an area to be operated; the digital earth surface data and the digital terrain data comprise coordinate values and elevation values; dividing the area to be operated according to the digital earth surface data and the digital terrain data to obtain units to be operated in the area to be operated; matching the coordinate values of the unit to be operated with the digital earth surface data to obtain an elevation value in the unit to be operated; and planning the route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated.
According to an embodiment of the present invention, the dividing the area to be worked according to the digital surface data and the digital terrain data to obtain units to be worked in the area to be worked further includes: respectively acquiring elevation values of the area to be operated in the digital earth surface data and the digital terrain data; subtracting the elevation value of the area to be operated in the digital terrain data from the elevation value of the area to be operated in the digital terrain data to obtain an elevation difference value; and acquiring coordinate values with the elevation values larger than or equal to a preset value, and clustering the coordinate values with the elevation difference values larger than the preset value to form the unit to be operated.
According to an embodiment of the present invention, the planning a route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated further includes: acquiring a coordinate value center line of the unit to be operated and the maximum value of the elevation value in the unit to be operated; and generating the air route of the unit to be operated according to the coordinate value center line and the maximum value of the elevation value.
According to an embodiment of the present invention, the planning a route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated further includes: and acquiring the boundary of the unit to be operated and the coordinate value of the boundary, extracting the middle value of the boundary coordinate value and the maximum value of the elevation value in the unit to be operated, and generating the air route of the unit to be operated.
According to an embodiment of the present invention, the acquiring the boundary of the unit to be operated further includes: and carrying out image processing on the elevation value of the unit to be operated, and extracting the boundary of the unit to be operated.
According to an embodiment of the present invention, the generating the route of the unit to be worked further includes: and taking the sum of the elevation value of the unit to be operated and a preset safety distance as the flight height of the air route of the unit to be operated.
According to an embodiment of the present invention, the method for controlling an unmanned aerial vehicle further includes: and combining the air route of at least one unit to be operated into the air route of the area to be operated.
According to one embodiment of the invention, the route of the area to be worked comprises at least one of a serpentine route or a zigzag route.
According to the control method of the unmanned aerial vehicle, the navigation planning can be carried out on the area to be operated through the digital earth surface data and the digital terrain data, so that the plant protection efficiency of the tea garden is effectively improved, and the plant protection effect of the unmanned aerial vehicle is improved.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a control device for an unmanned aerial vehicle, including: the acquisition unit is used for acquiring digital earth surface data and digital terrain data of an area to be operated; wherein the data comprises coordinate values and elevation values; the dividing unit is used for dividing the area to be operated according to the digital earth surface data and the digital terrain data to obtain a unit to be operated in the area to be operated; the calculation unit is used for matching the coordinate values of the unit to be operated with the digital earth surface data to acquire an elevation value in the unit to be operated; and the planning unit is used for planning the air route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated.
In order to achieve the above object, a third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the control method for a drone.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of the drone according to one embodiment of the present invention;
FIG. 3 is a DSM data diagram of one embodiment of the invention;
FIG. 4 is a diagram of DTM data in accordance with one embodiment of the present invention;
FIG. 5 is a data graph of elevation difference values between elevation values in a DSM and elevation values in a DTM, in accordance with an embodiment of the invention;
fig. 6 is a flowchart of a control method of the drone according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of a boundary contour of a unit to be worked according to an embodiment of the present invention;
FIG. 8 is a schematic center line view of a unit to be worked on according to an embodiment of the present invention;
fig. 9 is a block diagram illustrating control of the drone according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a control method and apparatus of an unmanned aerial vehicle according to an embodiment of the present invention with reference to the drawings.
Fig. 1 is a flowchart of a control method for an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, the method for controlling an unmanned aerial vehicle according to the embodiment of the present invention includes the following steps:
s101: and acquiring digital terrain data and digital terrain data of the area to be worked.
The Digital Surface data is data information provided by a Digital Surface Model (DSM), and may be provided in the form of an image, a graph, a table, or the like. The digital surface model DSM is a ground elevation model including the heights of surface buildings, bridges, numbers and the like. Compared with a Digital Elevation Model (DEM), the DEM only contains Elevation information of terrain and does not contain other surface information, and the DSM further contains Elevation values of surface information other than the ground on the basis of the DEM.
Digital Terrain data is data information provided by a Digital Terrain Model (DTM), which is an analog representation of the continuous ground using a large selection of known x, y, z coordinate points in an arbitrary coordinate system, or DTM is a Digital representation of topographical surface morphology attribute information, which is a Digital description with spatial location features and topographical attribute features.
It should be noted that, in the embodiment of the present invention, the acquired digital terrain data and digital terrain data of the work area at least include coordinate values and elevation values of the area to be worked.
S102: and dividing the area to be operated according to the digital earth surface data and the digital terrain data to obtain the unit to be operated in the area to be operated.
According to an embodiment of the present invention, as shown in fig. 2, step S102 further includes:
s201: and respectively acquiring the elevation values of the areas to be operated in the digital terrain data and the digital terrain data.
It should be noted that, in step S201, it may be understood that, according to the area to be worked, the elevation values are extracted from the digital terrain data and the digital terrain data, that is, the elevation value corresponding to the coordinate value of the area to be worked in the digital terrain data and the elevation value corresponding to the coordinate value of the area to be worked in the digital terrain data may be obtained, as shown in fig. 3 and fig. 4, respectively.
S202: and subtracting the elevation value of the area to be operated in the digital terrain data from the elevation value of the area to be operated in the digital terrain data to obtain an elevation difference value.
Since the digital land surface data includes not only the land surface information but also land surface information other than the land surface, in this embodiment, the digital land surface data includes not only the land surface information but also information of tea trees, information of fruit trees, information of vegetation types, and the like, an elevation value corresponding to a coordinate value of an area to be worked in the digital land surface data is larger than an elevation value corresponding to a coordinate value of an area to be worked in the digital land surface data including only the land surface data, as shown in fig. 5.
Specifically, the elevation values corresponding to the coordinate values of the area to be operated are extracted from the digital surface data and the digital terrain data respectively, and then the elevation value corresponding to the coordinate values of the area to be operated in the digital surface data is subtracted from the elevation value corresponding to the coordinate values of the area to be operated in the digital terrain data to obtain the elevation difference value of the coordinate values of the area to be operated, namely the elevation value of other surface information such as tea trees, weeds and the like in the area to be operated.
S203: and acquiring coordinate values with the elevation difference value larger than or equal to a preset value, and clustering the coordinate values with the elevation difference value larger than the preset value to form a unit to be operated.
That is to say, after the elevation difference value is obtained, further judgment is performed on the elevation difference value on the area to be operated, whether the elevation difference values are larger than a preset value or not is judged, if the elevation difference value is larger than or equal to the preset value, the coordinate value corresponding to the elevation difference value is determined to be a target coordinate value, and if the elevation difference value is smaller than the preset value, the coordinate value corresponding to the elevation difference value is determined to be a non-target coordinate value. And then clustering the target coordinate values to form a unit to be operated.
It should be understood that, in the embodiment of the present invention, the plant protection object is a tea tree, so the preset value may be set to 50 cm, that is, when the elevation difference is greater than 50 cm, it is determined that a coordinate value at this point is planted with a tea tree, and plant protection is required for the tea tree, since the planting characteristics of the tea tree are known, the tea tree is usually planted in a ridge unit, at this time, the target coordinate value is clustered, and an area corresponding to a unit to be operated, that is, a ridge of the tea tree, and other non-target coordinate values may be an area such as a pedestrian path, a furrow, and the like in the tea garden.
S103: and matching the coordinate values of the unit to be operated with the digital earth surface data to obtain the elevation value in the unit to be operated.
That is, after the coordinate values of the units to be operated (tea tree ridges) are identified through the elevation difference values, the coordinate values of the units to be operated are matched with the digital surface data to obtain elevation values in the units to be operated, namely the elevation values of all the coordinate values in the units to be operated.
S104: and planning the route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated.
According to an embodiment of the present invention, as shown in fig. 6, step S104 further includes:
s301: and acquiring the coordinate value center line of the unit to be operated and the maximum value of the elevation value in the unit to be operated.
S302: and generating a route of the unit to be operated according to the coordinate value center line and the maximum value of the elevation value.
It should be noted that, at first, because the tea tree ridge is mostly single row or list form, consequently, can acquire its fore-and-aft central line according to the whole coordinate value of treating the operation unit, promptly, the central point of first tea tree puts to the central point of last tea tree in this ridge tea tree, secondly, the reason of choosing central point puts is that unmanned aerial vehicle sprays to the plant on ground through the hole of spraying on the both wings, because the diameter of tea tree is less, unmanned aerial vehicle single flight can cover the region in whole tea tree ridge, unmanned aerial vehicle can guarantee that all tea trees homoenergetic of this ridge receive the medicine when flying to this last tea tree of this ridge from the first tea tree of this ridge.
Because can not take place to hit the tree scheduling problem need draw the maximum elevation value of treating the operation unit when guaranteeing unmanned aerial vehicle flight, prevent that unmanned aerial vehicle flying height from crossing excessively.
According to another embodiment of the invention, the boundary of the unit to be operated and the coordinate value of the boundary can be obtained, and the middle value of the coordinate value and the maximum value of the elevation value in the unit to be operated are extracted to generate the air route of the unit to be operated.
That is, the boundary of the unit to be operated may be obtained first, as shown in fig. 7, the boundary of the unit to be operated is obtained by extracting the contour line of the unit to be operated, the coordinate value of the boundary is obtained, and then the middle value of the boundary coordinate is extracted, as shown in fig. 8, based on the above analysis, the middle value of the boundary coordinate is the coordinate value of the unit to be operated, and can be combined into the coordinate value center line of the unit to be operated, and then the course line of the unit to be operated is generated by combining the coordinate value center line and the maximum value of the elevation value of the unit to be operated, and the course line may be a three-dimensional course line.
Further, the elevation value of the unit to be operated can be subjected to image processing, and the boundary of the unit to be operated is extracted.
It should be noted that, as can be seen from the foregoing analysis, both the digital surface data and the digital terrain data can be expressed in the form of a picture, and the elevation difference between the digital surface data and the digital terrain data can also be expressed in the form of a picture, and the picture is subjected to image processing, and the boundary of the unit to be operated can be extracted by a clustering algorithm, an image recognition algorithm, and the like.
According to one embodiment of the invention, the flight height of the flight path of the unit to be operated can be operated by adding the height value of the unit to be operated and the preset safety distance.
That is, before or after the flight path of the unit to be operated is generated according to the center line and the maximum elevation value of the unit to be operated, the safety distance needs to be increased, so that the flight height of the flight path of the unit to be operated is the sum of the maximum elevation value and the safety distance of the unit to be operated. Wherein, in order to prevent the sprayed pesticide from severely flying with the wind to influence the pesticide effect, the safe distance can be set to be 50-150 cm.
Further, in order to avoid that the unmanned aerial vehicle needs to land and take off again after being taken as a ridge of tea trees, the air route of at least one unit to be operated can be combined into the air route of the whole area to be operated. Further, the routes of the area to be worked may be combined into one of a serpentine route or a zigzag route.
It should be understood that, when the flight path combination is performed, the combined flight path may be adjusted according to the flight heights of the two adjacent units to be operated, for example, the flight path of the unit to be operated with the lower flight height is adjusted to be higher, so as to prevent the unmanned aerial vehicle from being unable to increase the flight height to the height required by the next unit to be operated at the joint of the two adjacent units to be operated during the flight process, which may result in tree collision.
From this, solved plant protection unmanned aerial vehicle flight in-process, it is inaccurate to the judgement of topography and crop self height, volume, leads to unmanned aerial vehicle can not adjust flying height and direction according to actual topography ground object fluctuation, and the medicine that causes is extravagant, leaks to spout or needs to obtain the problem that coordinate information data operating efficiency is low at the beginning of every ridge tea tree, end and turning according to RTK positioning technology plant protection.
In summary, according to the control method of the unmanned aerial vehicle in the embodiment of the invention, the navigation planning can be performed on the area to be operated through the digital terrain data and the digital terrain data, so that the plant protection efficiency of the tea garden is effectively improved, and the plant protection effect of the unmanned aerial vehicle is improved.
In order to realize the embodiment, the invention further provides a control device of the unmanned aerial vehicle.
Fig. 9 is a block diagram schematically illustrating a control device of the drone according to an embodiment of the present invention. As shown in fig. 9, the control device of the drone includes: an acquisition unit 10, a dividing unit 20, a calculation unit 30 and a planning unit 40.
The acquiring unit 10 is used for acquiring digital earth surface data and digital terrain data of an area to be worked; wherein the data comprises coordinate values and elevation values; the dividing unit 20 is configured to divide the area to be operated according to the digital surface data and the digital terrain data, so as to obtain a unit to be operated in the area to be operated; the calculation unit 30 is configured to match the coordinate values of the unit to be operated with the digital earth surface data, and acquire an elevation value in the unit to be operated; the planning unit 40 is configured to plan a route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated.
Further, the dividing unit 20 is further configured to: respectively acquiring elevation values of the area to be operated in the digital earth surface data and the digital terrain data; subtracting the elevation value of the area to be operated in the digital terrain data from the elevation value of the area to be operated in the digital terrain data to obtain an elevation difference value; and acquiring coordinate values with the elevation values larger than or equal to a preset value, and clustering the coordinate values with the elevation difference values larger than the preset value to form the unit to be operated.
Further, the planning unit 40 is further configured to: acquiring a coordinate value center line of the unit to be operated and the maximum value of the elevation value in the unit to be operated; and generating the air route of the unit to be operated according to the coordinate value center line and the maximum value of the elevation value.
Further, the planning unit 40 is further configured to: and acquiring the boundary of the unit to be operated and the coordinate value of the boundary, extracting the middle value of the boundary coordinate value and the maximum value of the elevation value in the unit to be operated, and generating the air route of the unit to be operated.
Further, the dividing unit 20 is further configured to: and carrying out image processing on the elevation value of the unit to be operated, and extracting the boundary of the unit to be operated.
Further, the planning unit 40 is further configured to: and taking the sum of the elevation value of the unit to be operated and a preset safety distance as the flight height of the air route of the unit to be operated.
Further, the planning unit 40 is further configured to: and combining the air route of at least one unit to be operated into the air route of the area to be operated.
Further, the planning unit 40 is further configured to: the air route of the area to be operated at least comprises one of a snakelike air route or a zigzag air route.
It should be noted that the explanation of the embodiment of the control method for the unmanned aerial vehicle is also applicable to the control device for the unmanned aerial vehicle in this embodiment, and details are not repeated here.
In order to implement the above embodiments, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, performs the aforementioned control method for a drone.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control method of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring digital earth surface data and digital terrain data of an area to be operated; the digital earth surface data and the digital terrain data comprise coordinate values and elevation values;
dividing the area to be operated according to the digital earth surface data and the digital terrain data to obtain units to be operated in the area to be operated;
matching the coordinate values of the unit to be operated with the digital earth surface data to obtain an elevation value in the unit to be operated;
and planning the route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated.
2. The method for controlling an unmanned aerial vehicle according to claim 1, wherein the dividing the area to be worked according to the digital surface data and the digital terrain data to obtain units to be worked in the area to be worked further comprises:
Respectively acquiring elevation values of the area to be operated in the digital earth surface data and the digital terrain data;
subtracting the elevation value of the area to be operated in the digital terrain data from the elevation value of the area to be operated in the digital terrain data to obtain an elevation difference value;
and acquiring coordinate values with the elevation values larger than or equal to a preset value, and clustering the coordinate values with the elevation difference values larger than the preset value to form the unit to be operated.
3. The method for controlling the unmanned aerial vehicle according to claim 1, wherein the planning of the route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated further comprises:
acquiring a coordinate value center line of the unit to be operated and the maximum value of the elevation value in the unit to be operated;
and generating the air route of the unit to be operated according to the coordinate value center line and the maximum value of the elevation value.
4. The method for controlling the unmanned aerial vehicle according to claim 1, wherein the planning of the route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated further comprises:
and acquiring the boundary of the unit to be operated and the coordinate value of the boundary, extracting the middle value of the boundary coordinate value and the maximum value of the elevation value in the unit to be operated, and generating the air route of the unit to be operated.
5. The method for controlling an unmanned aerial vehicle according to claim 4, wherein the obtaining of the boundary of the unit to be operated further includes:
and carrying out image processing on the elevation value of the unit to be operated, and extracting the boundary of the unit to be operated.
6. The method of controlling a drone of claim 3 or 4, wherein the generating the course of the unit to be worked further comprises:
and taking the sum of the elevation value of the unit to be operated and a preset safety distance as the flight height of the air route of the unit to be operated.
7. The method of controlling a drone of claim 6, further comprising:
and combining the air route of at least one unit to be operated into the air route of the area to be operated.
8. The method of controlling a drone of claim 7, wherein the pattern of the area to be worked includes at least one of a serpentine pattern or a zigzag pattern.
9. A control device of an unmanned aerial vehicle, comprising:
the acquisition unit is used for acquiring digital earth surface data and digital terrain data of an area to be operated; wherein the data comprises coordinate values and elevation values;
The dividing unit is used for dividing the area to be operated according to the digital earth surface data and the digital terrain data to obtain a unit to be operated in the area to be operated;
the calculation unit is used for matching the coordinate values of the unit to be operated with the digital earth surface data to acquire an elevation value in the unit to be operated;
and the planning unit is used for planning the air route of the unmanned aerial vehicle in the unit to be operated according to the elevation value of the unit to be operated.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the method of controlling a drone according to any one of claims 1 to 8.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113074740A (en) * | 2021-04-29 | 2021-07-06 | 广州极飞科技股份有限公司 | Air route planning method, device, equipment and medium in operation area |
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