CN112580892A - Collaborative operation route planning method and device, computer equipment and storage medium - Google Patents
Collaborative operation route planning method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a planning method, a planning device, computer equipment and a storage medium of a collaborative operation route, wherein the method comprises the following steps: acquiring a plurality of operation routes matched with the operation area, and pre-distributing each operation route to the unmanned equipment with the matched operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types; if the number of target unmanned equipment pre-distributed by the target operation route is determined to be multiple, dividing the target operation route into a plurality of operation sections according to operation levels, and distributing each operation section to the target unmanned equipment matched with the operation levels; a coordinated operation route for each unmanned aerial device is formed based on the operation route assigned to each unmanned aerial device and/or the plurality of operation sections. By using the technical scheme of the invention, the route planning of the cooperative operation of multiple types of unmanned equipment can be realized.
Description
Technical Field
The embodiment of the invention relates to a path planning and motion control technology, in particular to a planning method and device of a collaborative operation route, computer equipment and a storage medium.
Background
With the development of agricultural modernization, unmanned equipment such as unmanned aerial vehicles, unmanned vehicles and the like is applied to various operations such as seeding, spraying or harvesting of farmlands, after a terminal device generates an operation route, the operation route and operation parameters are sent to the unmanned equipment, and the unmanned equipment performs automatic operation according to the operation route and the operation parameters.
In farmland operation, several unmanned equipment operations of different types are required to be performed in sequence sometimes, for example, after soil loosening, seeding and fertilizing, a complete crop seeding flow is completed. Therefore, in the field work, there are some cases where a plurality of types of unmanned devices perform cooperative work. In the prior art, planning of an operation route is usually performed for a single unmanned device, and when a region to be operated needs to perform various types of farmland operations, one type of unmanned device usually performs operations, and then the next type of unmanned device performs operations. When multiple unmanned devices of the same operation type perform linkage operation, an area to be operated is also divided into a plurality of plots, operation route planning is performed on each plot for a single unmanned device, and a route planning scheme for cooperative operation of multiple unmanned devices of multiple types is not needed at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for planning a collaborative operation route, computer equipment and a storage medium, so as to realize the route planning of collaborative operation of multiple types of unmanned equipment.
In a first aspect, an embodiment of the present invention provides a method for planning a collaborative work route, where the method includes:
acquiring a plurality of operation routes matched with the operation area, and pre-distributing each operation route to the unmanned equipment with the matched operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types;
if the number of target unmanned equipment pre-distributed by the target operation route is determined to be multiple, dividing the target operation route into a plurality of operation sections according to operation levels, and distributing each operation section to the target unmanned equipment matched with the operation levels;
a coordinated operation route for each unmanned aerial device is formed based on the operation route assigned to each unmanned aerial device and/or the plurality of operation sections.
In a second aspect, an embodiment of the present invention further provides a device for planning a collaborative work route, where the device includes:
the system comprises a target operation route dividing module, a target operation route dividing module and a target operation route dividing module, wherein the target operation route dividing module is used for acquiring a target operation route to be operated and dividing the target operation route into operation sections of at least one operation grade;
the operation section distribution module is used for distributing each operation section to a plurality of unmanned equipment according to the operation grade of the unmanned equipment;
and the collaborative operation route generation module is used for respectively forming collaborative operation routes corresponding to the unmanned equipment according to the operation sections distributed to the unmanned equipment.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the program, implements the method for planning a collaborative work route according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used for executing the method for planning a collaborative work route according to any one of the embodiments of the present invention.
According to the method and the device, corresponding operation routes are pre-distributed to unmanned equipment of different operation types, when a plurality of target unmanned equipment corresponding to the target operation routes exist, the target operation routes are divided into a plurality of operation sections to be distributed to the target unmanned equipment according to the operation grades of the target unmanned equipment, and the cooperative operation routes of the unmanned equipment are generated according to the operation routes and/or the operation sections distributed by the unmanned equipment. The method and the device fill the blank of the route planning scheme aiming at the multi-type and multi-unmanned equipment cooperative operation in the prior art, and realize the targeted route planning according to the operation type and the attribute of the unmanned equipment when the multi-unmanned equipment cooperative operation is carried out.
Drawings
Fig. 1 is a flowchart of a method for planning a collaborative work route according to a first embodiment of the present invention;
fig. 2a is a flowchart of a method for planning a collaborative work route according to a second embodiment of the present invention;
FIG. 2b is a schematic illustration of a cut-out road segment suitable for use in embodiments of the present invention;
fig. 3 is a schematic structural diagram of a collaborative work route planning apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for planning a collaborative work route according to an embodiment of the present invention, where the embodiment is applicable to a situation where multiple and multiple types of unmanned devices perform collaborative work in a work area, and the method may be executed by a device for planning a collaborative work route, where the device may be implemented by software and/or hardware and is generally integrated in a computer device.
As shown in fig. 1, the technical solution of the embodiment of the present invention specifically includes the following steps:
s110, obtaining a plurality of operation routes matched with the operation area, and pre-distributing each operation route to unmanned equipment matched with the operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types.
The operation area is an area where at least one automatic operation of the unmanned aerial vehicle needs to be performed, the operation route is obtained by performing route planning according to area parameters of the operation area, and a starting point of the operation route may be a boundary end point of the operation area or a current location point of a certain unmanned aerial vehicle, which is not limited in this embodiment.
The operation type is matched with the type of the mounted equipment or the operation equipment on the unmanned equipment, and is exemplarily a spraying operation when the spraying equipment is mounted on the unmanned equipment.
In the embodiment of the present invention, when automatic jobs of a plurality of job types are required for a job area, the same number of job routes as the number of job types are generated, and each job route is assigned to an unmanned device that executes each job type.
Illustratively, when soil loosening, seeding and fertilizing are required for a working area, a soil loosening device, a seeding device and a fertilizing device are required, and working routes corresponding to soil loosening, seeding and fertilizing are generated and distributed to the soil loosening device, the seeding device and the fertilizing device respectively.
And S120, if the number of the target unmanned equipment pre-allocated to the target operation route is determined to be multiple, dividing the target operation route into a plurality of operation sections according to the operation levels, and allocating each operation section to the target unmanned equipment with the matched operation level.
The operation level of the operation section is used for indicating an operation request for the operation section, and the operation level of the operation section can be indicated by an operation parameter request of the operation section. For example, when the job is a spraying job, the highest job level may be set to correspond to the maximum spraying flow rate. The work parameter requirement of the work section may be set in advance by a user, or determined according to a prescription chart automatically generated by a fertilization prescription chart or the like, or determined according to a result measured and calculated by an agricultural management system.
The operation section is a plurality of sections obtained by dividing the target operation route according to the operation level, and the operation sections of different operation levels need to be operated by the unmanned equipment of the corresponding operation level. The purpose of dividing the operation route into a plurality of operation road sections is that different unmanned devices can be distributed to the road sections with different operation requirements, so that the operation route planning can be realized according to different attributes of each unmanned device, and the operation efficiency of the unmanned devices is improved.
The operation grade of the unmanned equipment is used for representing the requirement on the operation capacity of the unmanned equipment, the operation grade can be represented by the working parameters of the unmanned equipment, and specifically, different operation grades can be represented by setting the size of spraying particles, the flow rate, the range of the sowing angle and the like.
In the embodiment of the invention, if the number of the target unmanned devices pre-allocated to the target operation route is multiple, that is, there are multiple target unmanned devices for executing the target operation type, the target operation route is divided into multiple operation sections according to the operation level, and each operation section is allocated to the matched target unmanned device according to the operation level of each target unmanned device, so that each unmanned device can perform the cooperative operation of the same operation type according to the operation attribute.
And S130, forming a cooperative work route of each unmanned device according to the work route distributed to each unmanned device and/or a plurality of work sections.
In the embodiment of the invention, when a certain operation route only corresponds to one unmanned device, namely only one unmanned device executes the operation type corresponding to the operation route, the operation route is directly used as the cooperative operation route of the unmanned device. When a certain operation route corresponds to a plurality of unmanned devices, namely a plurality of unmanned devices execute operation types corresponding to the operation route together, the operation route is divided into operation sections, each operation section is distributed to each unmanned device according to an operation level, and a cooperative operation route of each unmanned device is generated according to each operation section distributed by each unmanned device.
For example, when there are four unmanned devices, two sowing devices and two spraying devices currently, a sowing operation route is obtained, the sowing operation route is distributed to the two sowing unmanned devices, the spraying operation route is distributed to the two spraying unmanned devices, and finally, the cooperative operation routes of the four unmanned devices are respectively obtained.
According to the technical scheme, corresponding operation routes are pre-distributed to unmanned equipment of different operation types, when a plurality of target unmanned equipment corresponding to the target operation routes exist, the target operation routes are divided into a plurality of operation sections to be distributed to the target unmanned equipment according to the operation grades of the target unmanned equipment, and the cooperative operation routes of the unmanned equipment are generated according to the operation routes and/or the operation sections distributed by the unmanned equipment. The method and the device fill the blank of the route planning scheme aiming at the multi-type and multi-unmanned equipment cooperative operation in the prior art, and realize the targeted route planning according to the operation type and the attribute of the unmanned equipment when the multi-unmanned equipment cooperative operation is carried out.
Example two
Fig. 2a is a flowchart of a method for planning a collaborative work route according to a second embodiment of the present invention, where the second embodiment of the present invention further embodies a process of obtaining a plurality of work routes, a process of performing link assignment on each target unmanned device when there are a plurality of target unmanned devices matched with the target work routes, and a process of forming a collaborative work route for each unmanned device.
Correspondingly, as shown in fig. 2a, the technical solution of the embodiment of the present invention specifically includes the following steps:
s210, obtaining a plurality of original layers corresponding to the operation areas, wherein each original layer comprises a local or whole operation area matched with the same operation type.
And copying the whole or part of the operation area to generate a plurality of original layers, wherein the number of the original layers is the same as that of the operation types. Each operation type corresponds to an original layer, and routes are distributed on the same original layer for unmanned equipment of the same operation type.
And S220, forming a plurality of operation routes matched with the operation areas according to preset starting and ending point information and each local or whole operation area.
In this embodiment of the present invention, the preset starting and ending point may be an area ending point of a local or entire work area, or may be a current location point of the unmanned aerial vehicle matching the work type of the local or entire work area, which is not limited in this embodiment.
Optionally, a path of the working area may be planned according to the start-end point information and the area parameters, the area parameters may include coordinates of a boundary end point of the working area, positions and types of obstacles in the working area, and the area parameters of the working area may be obtained by mapping the working area in advance. For example, the work route may be a "bow" shape, but the embodiment does not limit the specific way of path planning and the specific representation form of the work route. Optionally, the operation route may further include an obstacle avoidance route, which is used for enabling the unmanned device to detour or fly around the obstacle according to the obstacle avoidance route when operating according to the operation route.
In the embodiment of the invention, after a plurality of original image layers are generated, route planning is carried out on each original image layer, and a working route matched with the original image layers is generated.
And S230, pre-distributing each operation route to unmanned equipment matched with the operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types.
In the embodiment of the invention, route planning is carried out on each original layer, and after a working route is generated, unmanned equipment corresponding to the working type of the original layer is obtained. And distributing the operation route corresponding to each original layer to the unmanned equipment matched with the operation type of the original layer.
S240, judging whether a plurality of target unmanned devices pre-distributed by the target operation route exist, if so, executing S250, otherwise, executing S2130.
When a target operation route corresponding to the target original image layer has a plurality of matched target unmanned devices, that is, a plurality of unmanned devices execute the target operation types corresponding to the target original image layer, the target operation route may be divided into a plurality of operation sections, and each operation section may be allocated to each unmanned device according to an operation level.
And S250, dividing the target operation route into a plurality of operation sections according to the operation levels.
In the embodiment of the invention, the target operation route is divided into a plurality of operation sections with different operation levels. The purpose of dividing the operation route is that different unmanned devices can be distributed to the road sections with different operation requirements, so that the operation route planning can be carried out on each unmanned device executing the same operation type according to different attributes of the unmanned devices.
And S260, dividing each target unmanned device and each operation section into at least one unmanned device group and at least one section group according to the operation level.
In the embodiment of the present invention, each target unmanned device may be divided into different unmanned device groups according to the operation level of each target unmanned device, each operation road segment may be divided into different road segment groups according to the operation level of the operation road segment, and each road segment group may be assigned to a matching unmanned device group.
And S270, distributing each section group to the unmanned equipment group with the matched operation level, and distributing each section in each section group to each target unmanned equipment in the matched unmanned equipment group according to a length sharing mode.
When the road section is distributed, the shortest operation level matching and the shortest total operation time can be used as the distribution basis. Specifically, for the same type of unmanned equipment, the unmanned equipment of the higher rank can perform the work on the same or other lower rank work segment, but the unmanned equipment of the lower rank cannot perform the work on the higher rank work segment. Meanwhile, when a plurality of same-type unmanned devices operate together, the total operation time is long for the unmanned device with the slowest operation, so that when the operation time of each target unmanned device is consistent or has little difference, the total operation time can be ensured to be short.
When the speeds of the target unmanned devices are the same and the target unmanned devices operate at a constant speed, on the premise of ensuring grade matching, the target unmanned devices are allocated to the road sections on the principle of equal length or less length difference.
When the speeds of the target unmanned devices are different and the target unmanned devices operate at a constant speed, on the premise of ensuring grade matching, all the sections are distributed to the target unmanned devices on the principle that the section length ratio distributed by the target unmanned devices is the same as or has a small difference with the speed ratio. For target unmanned equipment of the same grade, the lengths of the road sections distributed by the target unmanned equipment are ensured to be equal.
And S280, acquiring the single-equipment distribution route length corresponding to each unmanned equipment group and the single-equipment standard route length corresponding to the target operation route.
The single-equipment distribution route length refers to an average distribution route length calculated according to the sum of the lengths of all the operation sections in the section group matched with the unmanned equipment group and the number of target unmanned equipment in the unmanned equipment group. The single-equipment standard route length refers to the average distribution route length calculated according to the total length of the target operation route, the total number of all target unmanned equipment and the respective speeds.
In the embodiment of the invention, the length of the single-equipment distribution route is adjusted according to the length of the single-equipment standard route, so that the length of the road section distributed among the unmanned equipment of different levels can be ensured to be matched with the speed of the unmanned equipment of different levels, the operation time difference of each unmanned equipment is ensured to be less, and the total operation time is reduced.
Accordingly, S280 may further include:
and S281, respectively calculating the total length of each operation road section in the road section grouping matched with each unmanned equipment grouping, and calculating the length of the single equipment distribution route corresponding to each unmanned equipment grouping according to each total length and the number of target unmanned equipment in each unmanned equipment grouping.
Illustratively, when the total length of the target working route is 100m, the working type corresponding to the target working route is seeding, and the seeding is performed by 10 unmanned equipment. In the target work route, the total length of each work segment in the segment group of the highest work level is 50m, the total length of each work segment in the segment group of the medium work level is 45m, and the total length of each work segment in the segment group of the lowest work level is 5 m. In the unmanned devices for performing seeding, the highest operation level group of unmanned devices includes 5 unmanned devices, the middle level group of unmanned devices includes 3 unmanned devices, and the lowest level group of unmanned devices includes 2 unmanned devices. The single-equipment distribution route lengths corresponding to the highest-job-level unmanned equipment group, the middle-level unmanned equipment group, and the lowest-level unmanned equipment group are 50 ÷ 5 ═ 10m, 45 ÷ 3 ═ 15m, and 5 ÷ 2 ÷ 2.5m, respectively.
And S282, acquiring the total length of the target operation route, and calculating the length of the single-equipment standard route corresponding to each unmanned equipment group according to the total length of the target operation route and the operation grade of each unmanned equipment group.
Illustratively, when the total length of the target work route is 100m, there are 10 unmanned devices executing the target work type. The total number of unmanned devices in the unmanned device group of the highest working level is 5, the total number of unmanned devices in the unmanned device group of the middle level is 3, and the total number of unmanned devices in the unmanned device group of the lowest level is 2.
If the operation speed of each target unmanned device is equal according to the operation level of each unmanned device group, the single-device standard route length is 100 ÷ (5+3+2) ═ 10 m.
If the ratio of the operating speeds of the highest, middle and lowest unmanned aerial vehicle groups is 2:2:1 according to the operating grades of the unmanned aerial vehicle groups, the standard single-equipment route lengths corresponding to the highest, middle and lowest unmanned aerial vehicle groups are (100 × 2/5) ÷ 5 ═ 8m, (100 × 2/5) ÷ 3 ≈ 13.3m and (100 × 1/5) ÷ 2 ═ 10m, respectively.
And S290, sequentially acquiring an unmanned equipment group as a target group according to the sequence of the operation levels from high to low.
In the embodiment of the invention, after the single equipment distribution route length and the single equipment standard route length are obtained through calculation, the single equipment distribution route lengths of all target unmanned equipment groups need to be adjusted according to the sequence from high to low of the operation levels.
S2100, detecting whether the target road section grouping corresponding to the target grouping meets road section redistribution conditions or not according to the single equipment distribution route length, the single equipment standard route length and the operation grade of the target grouping.
In the embodiment of the invention, the shortest total operation time needs to be ensured, so that the length of the single-equipment distribution route of each unmanned equipment group is equal to or less different from the length of the single-equipment standard route. Therefore, when the length of the single device distribution route is greatly different from the length of the single device standard route, the road sections need to be redistributed to the road section groups, so that the length of the single device distribution route is adjusted to be close to the length of the single device standard route.
Accordingly, S2100 may further include:
s2101, judge whether the difference of the length of the single-equipment standard route of the said goal grouping and length of the single-equipment distribution route is greater than or equal to the first difference threshold, if yes, carry out S2110, otherwise carry out S2102.
When the length of the single-equipment standard route of the target grouping is far higher than the length of the single-equipment distribution route, in order to ensure that the operation time length of each unmanned equipment grouping is less different, the length of the single-equipment distribution route of the target grouping needs to be complemented to the length of the single-equipment standard route.
S2102 determines whether or not the target group is an unmanned device group of a job level other than the highest job level, and if so, executes S2103, otherwise executes S2120.
In the embodiment of the invention, the situation that the road section grouping corresponding to the highest-level unmanned equipment grouping meets the road section reallocation condition is different from the situation that other unmanned equipment groupings meet the road section reallocation condition. The highest-level unmanned device can perform the work on the same-level or lower-level road segment, but the lower-level unmanned device cannot perform the work on the higher-level road segment. Therefore, even if the single device distribution route length corresponding to the highest-level unmanned device group is much longer than the single device standard route length, the single device distribution route length corresponding to the highest-level unmanned device group cannot be adjusted. However, if the single-equipment distribution route length corresponding to the other unmanned equipment groups except the highest operation level is far longer than the single-equipment standard route length, the route length can be redistributed, and part of the operation sections are divided by the unmanned equipment groups of the high level.
S2103, judging whether the difference value between the single-equipment distribution route length of the target grouping and the single-equipment standard route length is larger than or equal to a second difference value threshold value, if so, executing S2110, otherwise, executing S2120.
In the embodiment of the present invention, if the single device assignment route length of the target group is much longer than the single device standard route length, part of the operation section may be shared by the target unmanned devices in the high-level group of the target group.
The value of the first difference threshold and the value of the second difference threshold are not limited in the embodiment of the invention, and the first difference threshold and the second difference threshold can be the same or different.
And S2110, acquiring at least one associated road section group matched with the target road section group, and reallocating the road sections in the target road section group and the associated road section group.
In the embodiment of the invention, when the road section reallocation condition is met, the associated road section grouping of the target road section grouping is obtained.
When the single-equipment standard route length of the target grouping is far higher than the single-equipment distribution route length, the road sections are required to be intercepted from the road section grouping of the lower level and added into the target road section grouping, and at least one road section grouping of the lower operation level is obtained as the related road section grouping.
Accordingly, when the difference between the standard route length of the single device of the target group and the assigned route length of the single device is greater than or equal to the first difference threshold, S2110 may further include:
s2111, acquiring a road section group which is lower than the target road section group by one operation level as an associated road section group, acquiring an intercepted road section from the associated road section group, and adding the intercepted road section into the target road section group.
The length of the intercepted road section is the product of the difference value of the length of the single-equipment standard route and the length of the single-equipment distribution route and the number of target unmanned equipment in the target grouping.
In the embodiment of the invention, the length of the single-equipment distribution route of each target unmanned equipment in the target grouping is supplemented to the length of the single-equipment standard route, the road section grouping which is lower than the target road section grouping by one operation level is obtained as the associated road section grouping, the road section is intercepted in the associated road section grouping and added into the target road section grouping, and the road section length in the associated road section grouping is updated to the road section length obtained by subtracting the intercepted road section length.
For example, if there are 5 target unmanned devices in the highest-level group, the total length of the road segment in the highest-level road segment group is 40m, and the length of the single-device standard road segment is 10m, the length of the single-device distribution road segment of each target unmanned device is 40 ÷ 5 ═ 8m, and is smaller than the length of the single-device standard road segment, it is necessary that in the next-level road segment group in the highest level, the intercepted road segment is added to the road segment group in the highest level, and the length of the intercepted road segment is (10-8) × (5 ═ 10 m).
In the embodiment of the present invention, fig. 2b provides a schematic diagram of a cut-out road section, and as shown in fig. 2b, a portion indicated by an arrow is a cut-out road section portion. In the embodiment of the invention, the target road section in the target road section group closest to the starting point is obtained from the starting point of the target operation route, and the intercepted road section is obtained by intercepting the road section of the next level closest to the target road section by taking the target road section as the reference. And if the length of the next level road section closest to the target road section is less than the length of the road section to be intercepted, intercepting all the next level road sections, then sequentially acquiring next level road sections second closest to the target road section, intercepting the rest parts on the next level road sections, and so on until the length of the intercepted road sections meets the requirement. If the total length of each road section of the next level is less than the length of the road section to be intercepted, all the road sections of the next level are intercepted, and if the road sections of two levels are lower, the rest parts are intercepted on the road sections of the two levels.
S2112, respectively recalculating the lengths of the single-equipment distribution routes of the unmanned equipment groups corresponding to the target group and the associated road section group according to the target road section group after the intercepted road section is added and the associated road section group after the intercepted road section is deleted.
And after the intercepted road sections are added into the target road sections in groups and deleted from the associated road sections in groups, respectively recalculating the length of the single-equipment distribution route.
S2113, the road sections in the target road section grouping and the related road section grouping are redistributed according to the recalculated single-equipment distribution route length.
In the embodiment of the invention, after the length of the single-equipment distribution route is adjusted, the road sections in the target road section grouping and the associated road section grouping are respectively redistributed to the target unmanned equipment in the unmanned equipment grouping corresponding to the target road section grouping and the associated road section grouping.
When the target group is not the highest-level unmanned equipment group and the single-equipment assigned route length is much higher than the single-equipment standard route length, part of the operation section may be shared by the target unmanned equipment in the high-level unmanned equipment group, and thus, all the section groups having the operation levels higher than the target section group are acquired as the associated section group.
Accordingly, when the target group is an unmanned device group of a job class other than the highest job class, and a difference between the single device assignment route length of the target group and the single device standard route length is greater than or equal to a second difference threshold, S2110 may further include:
s2114, all the link groups having the higher job level than the target link group are acquired as the associated link group.
In the embodiment of the present invention, if the single device assignment route length of the object group is much longer than the single device standard route length, a part of the work section may be divided by the high-rank group of the object group. Therefore, when the single device assignment route length of the target group is much longer than the single device standard route length, all the link groups having higher operation levels than the target link group are acquired as the associated link groups.
S2115, recalculating the single-equipment distribution route length of the unmanned equipment group corresponding to the target group and the associated road section group according to the total length of each operation road section in the target road section group and the associated road section group, the number of each target unmanned equipment in the unmanned equipment group corresponding to the target group and the associated road section group and the operation grade of the unmanned equipment group corresponding to the target group and the associated road section group.
Illustratively, when the total length of the target work route is 100m, 10 target unmanned devices of the target work type are executed. The total length of each work link in the link group of the highest work level was 50m, and the total of 5 target unmanned devices in the unmanned device group of the highest work level. The total length of each operation link in the link group of the medium operation level was 45m, and 3 target unmanned devices in the unmanned device group of the medium level were in total. The total length of each operation section in the section group of the lowest operation level is 5m, and the total number of 2 target unmanned devices in the unmanned device group of the lowest operation level is total. The lengths of the single-equipment distribution routes corresponding to the unmanned equipment group of the highest job class, the unmanned equipment group of the middle class, and the unmanned equipment group of the lowest class are 10m, 15m, and 2.5m, respectively.
If the working speed of each unmanned device is determined to be equal according to the working grade, the single-device standard route length is 100 ÷ (5+3+2) ═ 10 m. It can be seen that the single device allocation route length 15m of the unmanned device group of the medium work level is much longer than the single device standard route length 10m, and at this time, the total length of the work section of the highest work level and the work section of the medium work level, 50+45, is 95m, and is commonly executed by the 5 target unmanned devices of the highest work level and the 3 target unmanned devices of the medium work level, and at this time, the single device allocation route lengths of the unmanned device group of the highest work level and the medium work level are both 95 ÷ 8 ≈ 11.9 m.
S2116, the road sections in the target road section grouping and the related road section grouping are redistributed according to the recalculated single-equipment distribution route length.
And S2120, judging whether the processing of all the unmanned equipment groups is finished or not, if so, executing S2130, otherwise, returning to the step of executing S290.
In the embodiment of the invention, after the lengths of the single equipment distribution routes grouped by all the unmanned equipment are adjusted, the operation section distribution of each unmanned equipment is finished.
In the embodiment of the invention, after the route planning is carried out on the operation type containing a plurality of unmanned devices on the original map layer, the operation route is divided into operation sections to be distributed to the unmanned devices. And repeating the operation of S240-S2120 for all the operation types comprising a plurality of unmanned equipment until the operation routes of all the operation types are distributed, thereby realizing the cooperative operation of a plurality of types of unmanned equipment.
And S2130, generating operation layers matched with the original layers according to the operation routes and/or the operation road sections distributed to the unmanned equipment.
In the embodiment of the invention, when a certain operation route only corresponds to one unmanned device, that is, only one unmanned device executes the operation type corresponding to the operation route, the operation route is directly used as the cooperative operation route of the unmanned device, and the operation route is marked to be operated by the unmanned device on the original image layer corresponding to the operation route.
When a certain operation route corresponds to a plurality of unmanned devices, namely a plurality of unmanned devices execute operation types corresponding to the operation route together, the operation route is divided into operation sections, and each operation section is distributed to each unmanned device according to an operation level. And marking the unmanned equipment corresponding to each operation road section on the original map layer corresponding to the operation route.
S2140, marking the operation sequence for each operation layer according to the sequence of the operation type, acquiring an overlapped road section of the operation route of each operation layer and each unmanned device matched with the overlapped road section, and marking the operation sequence for each unmanned device according to the sequence of the operation type.
Because the operation types have a sequence, for example, the soil needs to be loosened before sowing, and watering can be carried out after sowing, so that the sequence of loosening the soil, sowing and spraying needs to be followed. And marking the sequence of each operation layer corresponding to the operation type according to the sequence of the operation type. When the operation routes of different operation layers are overlapped, the sequence of each unmanned device corresponding to the overlapped road section needs to be marked according to the operation type.
Illustratively, when the operation types comprise soil loosening, seeding and spraying, the corresponding operation layers of the soil loosening, the seeding and the spraying are respectively marked as a first operation layer, a second operation layer and a third operation layer in sequence. When the working routes of soil loosening and seeding correspond to the overlapping road section A, soil loosening unmanned equipment and seeding unmanned equipment for executing the operation of the overlapping road section A are obtained, the soil loosening unmanned equipment is marked as the first sequence, and the seeding unmanned equipment is marked as the second sequence.
After the operation sequence is marked, the sequence of the operation starting time can be set for the unmanned equipment of different operation types, and the unmanned equipment after the sequence can wait or return in place when the unmanned equipment after the sequence is detected to reach the overlapped road section first. The purpose of marking the work order is to enable automatic work to be performed in order for a plurality of types of unmanned equipment in the work area.
And S2150, combining the operation layers to generate a collaborative operation route map corresponding to each unmanned device.
And superposing the operation layers after the distribution is finished and the sequence is marked, so that a collaborative operation route map can be generated. The collaborative operation route map comprises collaborative operation routes of the unmanned equipment when the unmanned equipment executes the operation types and sequence of the operation execution routes or the operation sections.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a collaborative work route planning apparatus according to a third embodiment of the present invention, which may be implemented by software and/or hardware and is generally integrated in a computer device. The device includes: a work route pre-assignment module 310, a work segment assignment module 320, and a collaborative work route generation module 330. Wherein:
the operation route pre-allocation module 310 is used for acquiring a plurality of operation routes matched with the operation area, and pre-allocating each operation route to the unmanned equipment matched with the operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types;
an operation section assignment module 320 configured to, if it is determined that the number of target unmanned devices pre-assigned to the target operation route is multiple, divide the target operation route into a plurality of operation sections according to operation levels, and assign each operation section to a target unmanned device whose operation level matches;
and a cooperative work route generation module 330, configured to form a cooperative work route for each unmanned device according to the work route allocated to each unmanned device and/or the plurality of work segments.
According to the technical scheme, corresponding operation routes are pre-distributed to unmanned equipment of different operation types, when a plurality of target unmanned equipment corresponding to the target operation routes exist, the target operation routes are divided into a plurality of operation sections to be distributed to the target unmanned equipment according to the operation grades of the target unmanned equipment, and the cooperative operation routes of the unmanned equipment are generated according to the operation routes and/or the operation sections distributed by the unmanned equipment. The method and the device fill the blank of the route planning scheme aiming at the multi-type and multi-unmanned equipment cooperative operation in the prior art, and realize the targeted route planning according to the operation type and the attribute of the unmanned equipment when the multi-unmanned equipment cooperative operation is carried out.
On the basis of the above embodiment, the working route pre-allocation module 310 includes:
an original layer acquiring unit, configured to acquire multiple original layers corresponding to the operation area, where each original layer includes a local or entire operation area that matches the same operation type;
and the operation route generating unit is used for forming a plurality of operation routes matched with the operation areas according to preset starting and ending point information and each local or whole operation area.
On the basis of the above embodiment, the cooperative work route generation module 330 includes:
the operation layer generation unit is used for generating operation layers matched with the original layers according to the operation routes and/or the operation road sections distributed to the unmanned equipment;
the operation sequence marking unit is used for marking the operation sequence of each operation layer according to the sequence of the operation type, acquiring an overlapped road section of an operation route of each operation layer and each unmanned device matched with the overlapped road section, and marking the operation sequence of each unmanned device according to the sequence of the operation type;
and the operation layer merging unit is used for merging all the operation layers to generate a cooperative operation route map corresponding to each unmanned device.
On the basis of the above embodiment, the operation segment allocating module 320 includes:
a grouping unit for dividing each target unmanned device and each operation section into at least one unmanned device group and at least one section group according to the operation grade;
and the road section allocation unit is used for allocating each road section group to the unmanned equipment group matched with the operation grade, and allocating each road section in each road section group to each target unmanned equipment in the matched unmanned equipment group in a length sharing mode.
On the basis of the above embodiment, the apparatus further includes:
the route length obtaining module is used for obtaining the single equipment distribution route length corresponding to each unmanned equipment group and the single equipment standard route length corresponding to the target operation route;
the target grouping acquisition module is used for sequentially acquiring an unmanned equipment group as a target grouping according to the sequence of the operation grades from high to low;
the road section redistribution condition judgment module is used for detecting whether the target road section grouping corresponding to the target grouping meets the road section redistribution condition or not according to the single equipment distribution route length, the single equipment standard route length and the operation grade of the target grouping;
the road section redistribution module is used for acquiring at least one associated road section grouping matched with the target road section grouping if the target road section grouping is matched with the road section, and redistributing the target road section grouping and the road sections in the associated road section grouping;
and the return execution module is used for returning and executing the operation of sequentially acquiring one unmanned equipment group as a target group according to the sequence of the operation grades from high to low until the processing of all the unmanned equipment groups is completed.
On the basis of the above embodiment, the route length obtaining module includes:
the single-equipment distribution route length calculating unit is used for calculating the total length of each operation section in the section group matched with each unmanned equipment group respectively, and calculating the length of the single-equipment distribution route corresponding to each unmanned equipment group according to each total length and the number of target unmanned equipment in each unmanned equipment group;
and the single-equipment standard route length calculating unit is used for acquiring the total length of the target operation route, and calculating the single-equipment standard route length corresponding to each unmanned equipment group according to the total length of the target operation route and the operation grade of each unmanned equipment group.
On the basis of the above embodiment, the road segment reallocation condition determination module includes:
and the first road segment redistribution determining unit is used for determining that the target road segment grouping corresponding to the target grouping meets the road segment redistribution condition if the difference value between the single equipment standard route length of the target grouping and the single equipment distribution route length is greater than or equal to a first difference threshold value.
On the basis of the above embodiment, the segment reallocation module includes:
the road section intercepting unit is used for acquiring a road section group which is lower than the target road section group by one operation level as an associated road section group, acquiring an intercepted road section from the associated road section group and adding the intercepted road section into the target road section group;
the length of the intercepted road section is the product of the difference value of the length of the single-equipment standard route and the length of the single-equipment distribution route and the number of target unmanned equipment in the target grouping;
the first single-equipment distribution route length recalculation unit is used for recalculating the single-equipment distribution route lengths of the unmanned equipment groups corresponding to the target group and the associated road section group respectively according to the target road section group after the intercepted road section is added and the associated road section group after the intercepted road section is deleted;
and the first road section redistribution unit is used for redistributing road sections in the target road section grouping and the associated road section grouping according to the recalculated single equipment distribution route length.
On the basis of the above embodiment, the module for determining road segment reallocation conditions further includes:
and the second road segment reallocation determining unit is used for determining that the target road segment grouping corresponding to the target grouping meets the road segment reallocation condition if the target grouping is the unmanned equipment grouping of other operation levels except the highest operation level, and the difference value between the single equipment allocation route length of the target grouping and the single equipment standard route length is larger than or equal to a second difference value threshold value.
On the basis of the above embodiment, the segment reallocation module includes:
an associated link group acquisition unit configured to acquire all link groups having an operation level higher than that of the target link group as associated link groups;
a second single device distribution route length recalculation unit, configured to recalculate the single device distribution route length of the unmanned device group corresponding to the target group and the associated road segment group according to the total length of each operation road segment in the target road segment group and the associated road segment group, the number of each target unmanned device in the unmanned device group corresponding to the target group and the associated road segment group, and the operation level of the unmanned device group corresponding to the target group and the associated road segment group;
and the second road section redistribution unit is used for redistributing road sections in the target road section grouping and the associated road section grouping according to the recalculated single equipment distribution route length.
The planning device for the collaborative operation route provided by the embodiment of the invention can execute the planning method for the collaborative operation route provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a computer apparatus according to a fourth embodiment of the present invention, as shown in fig. 4, the computer apparatus includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the computer device may be one or more, and one processor 70 is taken as an example in fig. 4; the processor 70, the memory 71, the input device 72 and the output device 73 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 4.
The memory 71 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as modules corresponding to the planning method of the collaborative work route in the embodiment of the present invention (for example, the work route pre-allocation module 310, the work segment allocation module 320, and the collaborative work route generation module 330 in the planning device of the collaborative work route). The processor 70 executes various functional applications and data processing of the computer device by running software programs, instructions and modules stored in the memory 71, that is, implements the above-described method for planning the cooperative work route. The method comprises the following steps:
acquiring a plurality of operation routes matched with the operation area, and pre-distributing each operation route to the unmanned equipment with the matched operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types;
if the number of target unmanned equipment pre-distributed by the target operation route is determined to be multiple, dividing the target operation route into a plurality of operation sections according to operation levels, and distributing each operation section to the target unmanned equipment matched with the operation levels;
a coordinated operation route for each unmanned aerial device is formed based on the operation route assigned to each unmanned aerial device and/or the plurality of operation sections.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to a computer device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the computer apparatus. The output device 73 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for planning a collaborative work route, where the method includes:
acquiring a plurality of operation routes matched with the operation area, and pre-distributing each operation route to the unmanned equipment with the matched operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types;
if the number of target unmanned equipment pre-distributed by the target operation route is determined to be multiple, dividing the target operation route into a plurality of operation sections according to operation levels, and distributing each operation section to the target unmanned equipment matched with the operation levels;
a coordinated operation route for each unmanned aerial device is formed based on the operation route assigned to each unmanned aerial device and/or the plurality of operation sections.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the method for planning a collaborative work route provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the planning apparatus for collaborative work routes, the units and modules included in the planning apparatus are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (13)
1. A planning method of a collaborative work route is characterized by comprising the following steps:
acquiring a plurality of operation routes matched with the operation area, and pre-distributing each operation route to the unmanned equipment with the matched operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types;
if the number of target unmanned equipment pre-distributed by the target operation route is determined to be multiple, dividing the target operation route into a plurality of operation sections according to operation levels, and distributing each operation section to the target unmanned equipment matched with the operation levels;
a coordinated operation route for each unmanned aerial device is formed based on the operation route assigned to each unmanned aerial device and/or the plurality of operation sections.
2. The method of claim 1, wherein obtaining a plurality of work routes that match a work area comprises:
acquiring a plurality of original layers corresponding to the operation area, wherein each original layer comprises a local or whole operation area matched with the same operation type;
and forming a plurality of operation routes matched with the operation areas according to preset starting and ending point information and each local or whole operation area.
3. The method of claim 2, wherein forming a coordinated work route for each drone based on the assigned work route for each drone, and/or a plurality of work segments, comprises:
generating operation layers matched with the original layers according to the operation routes and/or the operation road sections distributed to the unmanned equipment;
marking the operation sequence of each operation layer according to the sequence of the operation type, acquiring an overlapped road section of the operation route of each operation layer and each unmanned device matched with the overlapped road section, and marking the operation sequence of each unmanned device according to the sequence of the operation type;
and combining the operation layers to generate a cooperative operation route map corresponding to each unmanned device.
4. The method according to any one of claims 1 to 3, wherein assigning each work segment to a target drone of a work class match comprises:
dividing each target unmanned device and each operation road section into at least one unmanned device group and at least one road section group according to the operation grade;
and distributing each section group to the unmanned equipment group matched with the operation grade, and distributing each section in each section group to each target unmanned equipment in the matched unmanned equipment group in a length sharing mode.
5. The method of claim 4, further comprising, after assigning the segments in each segment grouping to the target drone in the matched drone grouping:
acquiring the length of a single equipment distribution route corresponding to each unmanned equipment group and the length of a single equipment standard route corresponding to a target operation route;
sequentially acquiring an unmanned equipment group as a target group according to the sequence of the operation grades from high to low;
detecting whether the target road section grouping corresponding to the target grouping meets road section redistribution conditions or not according to the single equipment distribution route length, the single equipment standard route length and the operation grade of the target grouping;
if yes, acquiring at least one associated road section group matched with the target road section group, and reallocating the road sections in the target road section group and the associated road section group;
and returning to execute the operation of sequentially acquiring one unmanned equipment group as a target group according to the sequence from high to low of the job level until the processing of all the unmanned equipment groups is completed.
6. The method of claim 5, wherein obtaining a single device assigned route length corresponding to each unmanned device group and a single device standard route length corresponding to a target work route comprises:
respectively calculating the total length of each operation road section in the road section group matched with each unmanned equipment group, and calculating the length of the single equipment distribution route corresponding to each unmanned equipment group according to each total length and the number of target unmanned equipment in each unmanned equipment group;
and acquiring the total length of the target operation route, and calculating the length of the single-equipment standard route corresponding to each unmanned equipment group according to the total length of the target operation route and the operation grade of each unmanned equipment group.
7. The method of claim 5, wherein detecting whether the target road segment grouping corresponding to the target grouping meets the road segment re-allocation condition according to the single equipment allocation route length, the single equipment standard route length and the operation level of the target grouping comprises:
and if the difference value between the single-equipment standard route length of the target grouping and the single-equipment distribution route length is greater than or equal to a first difference threshold value, determining that the target road section grouping corresponding to the target grouping meets the road section redistribution condition.
8. The method of claim 7, wherein obtaining at least one associated segment group that matches the target segment group and reassigning segments in the target segment group and the associated segment group comprises:
acquiring a road section group which is lower than the target road section group by one operation level as an associated road section group, acquiring an intercepted road section from the associated road section group, and adding the intercepted road section into the target road section group;
the length of the intercepted road section is the product of the difference value of the length of the single-equipment standard route and the length of the single-equipment distribution route and the number of target unmanned equipment in the target grouping;
respectively recalculating the lengths of the single equipment distribution routes of the unmanned equipment groups corresponding to the target group and the associated road section group according to the target road section group after the intercepted road section is added and the associated road section group after the intercepted road section is deleted;
the segments in the target segment grouping and the associated segment grouping are reassigned based on the recalculated single device assignment route length.
9. The method of claim 5, wherein detecting whether a target road segment grouping corresponding to the target grouping meets a road segment re-allocation condition according to the single equipment allocation route length, the single equipment standard route length and the work level of the target grouping further comprises:
and if the target grouping is the unmanned equipment grouping of other operation levels except the highest operation level, and the difference between the single equipment distribution route length and the single equipment standard route length of the target grouping is greater than or equal to a second difference threshold value, determining that the target road section grouping corresponding to the target grouping meets the road section reallocation condition.
10. The method of claim 9, wherein obtaining at least one associated segment grouping that matches the target segment grouping and reassigning segments in the target segment grouping and the associated segment grouping comprises:
acquiring all road section groups with the operation levels higher than that of the target road section group as related road section groups;
recalculating the length of the single-equipment distribution route of the unmanned equipment group corresponding to the target group and the associated road section group according to the total length of each operation road section in the target road section group and the associated road section group, the number of each target unmanned equipment in the unmanned equipment group corresponding to the target group and the associated road section group and the operation grade of the unmanned equipment group corresponding to the target group and the associated road section group;
the segments in the target segment grouping and the associated segment grouping are reassigned based on the recalculated single device assignment route length.
11. A collaborative work route planning apparatus, comprising:
the operation route pre-distribution module is used for acquiring a plurality of operation routes matched with the operation area, and pre-distributing each operation route to the unmanned equipment matched with the operation type according to the operation type of the operation route, wherein different operation routes correspond to different operation types;
the operation section allocation module is used for dividing the target operation route into a plurality of operation sections according to operation levels and allocating each operation section to the target unmanned equipment with the matched operation levels if the number of the target unmanned equipment pre-allocated by the target operation route is determined to be multiple;
and the collaborative operation route generation module is used for forming the collaborative operation route of each unmanned device according to the operation route distributed to each unmanned device and/or a plurality of operation sections.
12. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method for planning a collaborative work route according to any one of claims 1-10 when executing the program.
13. A storage medium containing computer-executable instructions for performing the method of planning a collaborative work route according to any one of claims 1-10 when executed by a computer processor.
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