CN112799415A - Working route generation method and device, route planning device and storage medium - Google Patents
Working route generation method and device, route planning device and storage medium Download PDFInfo
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- CN112799415A CN112799415A CN201911018720.XA CN201911018720A CN112799415A CN 112799415 A CN112799415 A CN 112799415A CN 201911018720 A CN201911018720 A CN 201911018720A CN 112799415 A CN112799415 A CN 112799415A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
Abstract
The embodiment of the invention provides a method and equipment for generating an operation route, route planning equipment and a storage medium, and belongs to the field of unmanned aerial vehicles. The working route generation method comprises the following steps: acquiring the operation task information of a target operation land; planning a working route according to the working task information, wherein the working route comprises a plurality of working sections which are parallel to each other, and the dividing parameter comprises an inter-row spacing value d1 between the adjacent working sections; determining turning parameters of the fixed-wing unmanned aerial vehicle according to the operation speed; determining a minimum distance value d2 between each operation section and the next operation section when the fixed wing unmanned aerial vehicle executes an operation task according to the turning parameters; in the case where the minimum spacing value d2 is greater than the interline spacing value d1, the current work segment is connected to the next work segment at least n work segments apart. Therefore, the flight path planning mode in the embodiment of the invention shortens the flight distance of the fixed-wing unmanned aerial vehicle in the reversing process, and improves the operation efficiency of the fixed-wing unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a working route generation method and equipment, route planning equipment and a storage medium.
Background
In recent years, unmanned aerial vehicle surveying and mapping technology has rapidly developed. The unmanned aerial vehicle is used for surveying and mapping, and the method has the advantages of short image acquisition period, strong timeliness, convenience for quickly obtaining images, convenience for timely and effective terrain modeling and the like. The rotor unmanned aerial vehicle is used more in the survey and drawing operation of minim scope, and rotor unmanned aerial vehicle has advantages such as flight stability, gesture flexibility and not have turning radius's restriction, consequently can conveniently gather the image of each angle. However, the rotor unmanned aerial vehicle has short endurance time, so that the rotor unmanned aerial vehicle is not suitable for large-area surveying and mapping operation. Therefore, for large-area surveying and mapping operation, a fixed-wing unmanned aerial vehicle is often selected for surveying and mapping operation. The fixed-wing unmanned aerial vehicle has the advantages of long endurance time, high speed and high operation efficiency.
However, fixed wing unmanned vehicles are limited by their turning radius, making it difficult to fully track the course during turns. As shown in fig. 1, the planning mode of the conventional fixed-wing unmanned aerial vehicle surveying and mapping route is similar to that of a rotor unmanned aerial vehicle, an operation area to be surveyed is selected at first, parameters such as the flight height, the picture overlapping rate and the camera orientation of the unmanned aerial vehicle are set, an operation route composed of a plurality of waypoints is generated, a vertical operation section of the operation route is sequentially arranged from one side of the initial position of the fixed-wing unmanned aerial vehicle to the side opposite to the initial position and is sequentially connected end to end, and the fixed-wing unmanned aerial vehicle flies sequentially (as shown by an arrow in fig. 1). However, since the fixed-wing unmanned aerial vehicle has a limitation on the turning radius, the following problems may occur when this route planning method is applied to the fixed-wing unmanned aerial vehicle.
As shown in fig. 2, if a high image overlapping rate needs to be set for a target operation plot to be mapped, operation routes need to be arranged very densely, so that the turning distance reserved for the fixed-wing unmanned aerial vehicle is also reduced, at this time, if the turning radius of the fixed-wing unmanned aerial vehicle is large, the situation that an actual flight trajectory deviates from a pre-planned operation route in the turning process of the fixed-wing unmanned aerial vehicle in the transition from one operation section to the next operation section occurs, and the fixed-wing unmanned aerial vehicle often flies back to a mission point around a large circle in the actual operation process. The existence of the problem causes the fixed-wing unmanned aerial vehicle to waste a large amount of time to adjust the air route in the turning process, so that the operation efficiency is greatly reduced, and if the area of the target operation land is large, the fixed-wing unmanned aerial vehicle wastes more energy.
Disclosure of Invention
To at least partially solve the above problems in the prior art, an object of an embodiment of the present invention is to provide a working route generation method and apparatus, a route planning apparatus, and a storage medium.
In order to achieve the above object, in a first aspect of embodiments of the present invention, there is provided a working flight path generation method for a fixed-wing unmanned aerial vehicle, the working flight path generation method including: acquiring operation task information of a target operation land, wherein the operation task information comprises division parameters of the target operation land and operation speed of the fixed-wing unmanned aerial vehicle; planning a working route according to the working task information, wherein the working route comprises a plurality of working sections which are parallel to each other, and the dividing parameter comprises an inter-row spacing value d1 between the adjacent working sections; determining turning parameters of the fixed-wing unmanned aerial vehicle according to the operation speed; determining a minimum distance value d2 between each operation section and the next operation section when the fixed wing unmanned aerial vehicle executes an operation task according to turning parameters; in case the minimum spacing value d2 is greater than the inter-row spacing value d1, connecting the current working segment and the next working segment at least n working segments apart, wherein: when d2/d1 is an integer, n is d2/d 1-1; when d2/d1 is not an integer, n is int (d2/d1), where int is the rounding function.
Optionally, the working routes comprise at least one outbound sub-working route and at least one inbound sub-working route; the journey-going sub-operation route is formed by sequentially connecting operation sections close to the starting point position of the fixed-wing unmanned aerial vehicle from n operation sections to operation sections far away from the starting point position, and the connecting direction is taken as the operation direction; the return sub-operation route is formed by sequentially connecting operation sections which are far away from the starting position and are separated by n operation sections to operation sections which are close to the starting position, and the connecting direction is taken as the operation direction.
Optionally, the number of the outbound sub-working routes is the same as the number of the inbound sub-working routes; or the number of the outbound sub-working routes is one more than the number of the inbound sub-working routes.
Optionally, the outbound sub-operational route is alternately connected with the inbound sub-operational route.
Optionally, the partitioning parameter is determined according to at least one of: mapping an image overlap ratio required by the target operation plot, a flight height of the fixed-wing unmanned aerial vehicle, and a flight band width of the fixed-wing unmanned aerial vehicle.
Optionally, the working route generation method further includes: comparing the inter-line spacing value d1 with a preset spacing threshold d 3; in the event that the inter-row spacing value d1 is less than a preset spacing threshold value d3, the altitude of the fixed-wing unmanned aerial vehicle is increased and the inter-row spacing value d1 is re-determined based on the new altitude.
Optionally, the end point of the current work segment is located at the same end as the start point of the next work segment.
Optionally, the dividing parameter further includes the number of the job segments.
In a second aspect of embodiments of the present invention, there is provided a working route generation apparatus for a fixed-wing unmanned aerial vehicle, the working route generation apparatus including: an acquisition module configured to acquire job task information of a target job land, the job task information including a division parameter of the target job land and a job speed of the fixed-wing unmanned aerial vehicle; a planning module configured to plan a working route according to the working task information, wherein the working route comprises a plurality of working segments parallel to each other, and the division parameter comprises an inter-row spacing value d1 between the adjacent working segments; a first determination module configured to determine a turning parameter of the fixed-wing unmanned aerial vehicle according to the operating speed; a second determination module configured to determine a minimum separation value d2 between each of the operation sections and a next operation section when the fixed-wing unmanned aerial vehicle performs an operation task according to a turning parameter; a route generation module configured to connect a current working segment and a next working segment at least n working segments apart in case the minimum separation value d2 is greater than the inter-row separation value d1, wherein: when d2/d1 is an integer, n is d2/d 1-1; when d2/d1 is not an integer, n is int (d2/d1), where int is the rounding function.
In a third aspect of the embodiments of the present invention, there is provided an airline planning apparatus for a fixed-wing unmanned aerial vehicle, the airline planning apparatus being configured to perform the above-described working airline generation method for a fixed-wing unmanned aerial vehicle.
In a fourth aspect of embodiments of the present invention, there is provided a machine-readable storage medium having stored thereon instructions for, when executed by a processor, enabling the processor to perform the above-described working route generation method for a fixed-wing unmanned aerial vehicle.
Through the technical scheme, when a more densely-distributed operation route is needed for a target operation land, compared with the conventional operation route planning mode, the embodiment of the invention increases the turning distance between each operation section and the next operation section in the operation route in an interval operation mode, and ensures that the turning distance between each operation section and the next operation section exceeds the minimum distance value set according to the turning parameters of the fixed-wing unmanned aerial vehicle, so that the flight distance of the fixed-wing unmanned aerial vehicle in the reversing process is shortened, namely the actual operation route length of the fixed-wing unmanned aerial vehicle is shortened, the operation efficiency of the fixed-wing unmanned aerial vehicle is improved, and the energy waste of the fixed-wing unmanned aerial vehicle is reduced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIGS. 1 and 2 illustrate schematic views of a working envelope of a prior art fixed wing unmanned aerial vehicle;
FIG. 3 illustrates a flow chart of a working envelope generation method for a fixed wing unmanned aerial vehicle according to one embodiment of the invention;
FIG. 4A illustrates a schematic view of a working flight path of a fixed wing unmanned aerial vehicle provided by an alternative embodiment of the present invention;
FIG. 4B illustrates a schematic view of the outbound sub-job route of FIG. 4A;
FIG. 4C illustrates a schematic view of the return sub-route of work in FIG. 4A; and
fig. 5 is a block diagram schematically illustrating a working route generation apparatus for a fixed-wing unmanned aerial vehicle according to an embodiment of the present invention.
Description of the reference numerals
1 operation route 2 target operation land
11 operation section 12 reversing transition section
13 actual flight path 14 starting position
1a going sub-operation route 1b returning sub-operation route
10 acquisition module 20 planning module
30 first determination module 40 second determination module
50 route generation module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
Fig. 3 is a flowchart illustrating a working route generation method for a fixed-wing unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 3, an embodiment of the present invention provides a working route generation method for a fixed-wing unmanned aerial vehicle, which may include:
and step S10, acquiring the work task information of the target work land, wherein the work task information comprises the division parameters of the target work land and the work speed of the fixed-wing unmanned aerial vehicle.
Step S20, planning a working route according to the working task information, wherein the working route comprises a plurality of working sections which are parallel to each other, and the dividing parameter comprises an interline spacing value d1 between the adjacent working sections;
step S30, determining turning parameters of the fixed wing unmanned aerial vehicle according to the operation speed of the fixed wing unmanned aerial vehicle;
step S40, determining the minimum distance value d2 between each operation section and the next operation section when the fixed wing unmanned aerial vehicle executes the operation task according to the turning parameters of the fixed wing unmanned aerial vehicle;
step S50, in case that the minimum spacing value d2 is greater than the inter-row spacing value d1, connecting the current working segment and the next working segment at least n working segments apart, wherein: when d2/d1 is an integer, n is d2/d 1-1; when d2/d1 is not an integer, n is int (d2/d1), where int is the rounding function.
Therefore, when an operation route with more densely arranged target operation plots is needed, compared with the existing operation route planning mode, the embodiment of the invention increases the turning distance between each operation section and the next operation section in the operation route in an interval operation mode, and ensures that the turning distance between each operation section and the next operation section exceeds the minimum distance value set according to the turning parameters of the fixed-wing unmanned aerial vehicle, thereby shortening the flight distance of the fixed-wing unmanned aerial vehicle in the reversing process, namely shortening the actual operation route length of the fixed-wing unmanned aerial vehicle, improving the operation efficiency of the fixed-wing unmanned aerial vehicle and reducing the energy waste of the fixed-wing unmanned aerial vehicle. In addition, by increasing the turning distance between each operation section and the next operation section, the fixed-wing unmanned aerial vehicle can be prevented from being out of control due to too high flying speed, so that the operation safety is ensured, the roll angle of the fixed-wing unmanned aerial vehicle in the turning process can be reduced, and the lift loss caused by overlarge roll angle is avoided.
Specifically, as shown in fig. 4A, when planning a working route, the working task information of the target working parcel 2 may be obtained first, and the working task information may include boundary information (shown by a dotted line in fig. 4A) and size information of the target working parcel 2, a division parameter of the target working parcel, a working speed of the fixed-wing unmanned aerial vehicle, and the like. After the job task information is obtained, a job route can be planned according to the job task information. The work route may include a plurality of work sections 11 parallel to each other, and the fixed-wing unmanned aerial vehicle performs work (e.g., mapping work or plant protection work) on the target work site 2 during flight of the work sections 11. The working sections 11 can be connected through a reversing transition section 12 to form a complete working route. The partitioning parameters for the target work parcel may include the number of work sections in the work route and the inter-row spacing value d1 between adjacent work sections. The division parameter can be determined according to the operation requirement of the target operation land and the performance of the fixed-wing unmanned aerial vehicle. For example, when the fixed-wing unmanned aerial vehicle is required to perform a surveying operation on the target operation site 2, the division parameter may be determined according to at least one of an image overlapping rate required for surveying the target operation site, a flight height of the fixed-wing unmanned aerial vehicle, and a swath width of the fixed-wing unmanned aerial vehicle. When the fixed-wing unmanned aerial vehicle is required to perform plant protection operation on the target operation land 2, the division parameter may be determined according to information such as crop density of the target operation land 2.
It can be understood that, in order to enable the fixed-wing unmanned aerial vehicle to have a larger turning distance in the turning process of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle transits from one operation section to the next operation section, so as to ensure that the fixed-wing unmanned aerial vehicle can fly closer to a set operation route, and avoid that the fixed-wing unmanned aerial vehicle is too far away from the operation route when the fixed-wing unmanned aerial vehicle turns because the turning distance is too small, the turning parameters of the fixed-wing unmanned aerial vehicle can be determined according to the operation speed of the fixed-wing unmanned aerial vehicle, and the turning parameters can include the turning radius of the fixed-wing unmanned aerial vehicle. Then, the minimum distance value d2 between each operation section and the next operation section when the fixed-wing unmanned aerial vehicle executes the operation task can be determined according to the turning parameters of the fixed-wing unmanned aerial vehicle, so that the fixed-wing unmanned aerial vehicle does not deviate from the operation route too much during the turning process under the condition that the turning distance between each operation section and the next operation section is larger than the minimum distance value d 2. Then, the inter-row spacing value d1 between adjacent work segments may be compared with the minimum spacing value d2, and in the case that the minimum spacing value d2 is greater than the inter-row spacing value d1, the current work segment and the next work segment are connected at least n work segments apart, where n is d2/d1-1 when d2/d1 is an integer, and n is int (d2/d1) when d2/d1 is not an integer, where int is an integer function. Thus, when the fixed-wing unmanned aerial vehicle performs operation, the turning distance between the current operation section and the next operation section is ensured to be larger than the minimum distance value d 2.
In an alternative embodiment of the present invention, the working routes of the fixed-wing unmanned aerial vehicle may include at least one outbound sub-working route 1a and at least one inbound sub-working route 1 b. For example, as shown in fig. 4A to 4C, in fig. 4A, a working route of a fixed wing unmanned aerial vehicle provided by an alternative embodiment of the present invention is shown, the working route is composed of a departure sub-working route 1a and a return sub-working route 1B, fig. 4B shows the departure sub-working route 1a in fig. 4A, and fig. 4C shows the return sub-working route 1B in fig. 4A, wherein the working direction of the corresponding sub-working route is indicated by arrows in fig. 4A to 4C. When the number of the intervals n is 1, the outbound sub-working route 1a is formed by sequentially connecting working sections 11 close to a starting position 14 of the fixed-wing unmanned aerial vehicle by 1 working section to working sections 11 far from the starting position 14, and the connecting direction is set as the working direction of the fixed-wing unmanned aerial vehicle. The return sub-working route 1b is formed by connecting working sections 11 far from the starting position 14 by 1 working section to working sections 11 near the starting position 14 in sequence, and the connecting direction is taken as the working direction of the fixed-wing unmanned aerial vehicle. As shown in fig. 4A, when the starting point position 14 of the fixed-wing unmanned aerial vehicle is located at the upper left of the target work parcel shown in fig. 4A, the outbound sub-work route 1a sequentially connects the work segments 11 belonging to the outbound sub-work route 1a from left to right, and the return sub-work route 1b sequentially connects the work segments 11 belonging to the return sub-work route 1b from right to left.
Here, the number of the outbound sub working routes 1a may be the same as the number of the return sub working routes 1b or the number of the outbound sub working routes 1a may be one more than the number of the return sub working routes 1 b. At this time, the final working route 1 may be generated by alternately connecting the outbound sub-working route 1a and the return sub-working route 1b, and the fixed wing unmanned aerial vehicle completes all the working routes 1 by alternately executing the outbound sub-working route 1a and the return sub-working route 1 b. It can be understood that when the number of the outbound sub-working routes 1a is the same as that of the return sub-working routes 1b, the fixed-wing unmanned aerial vehicle can just return to the vicinity of the starting position 14 after completing all the working routes, so that the return energy consumption of the fixed-wing unmanned aerial vehicle after the work is finished can be reduced.
Further, when the fixed-wing unmanned aerial vehicle is required to perform mapping operation on the target operation land 2, the operation route generation method for the fixed-wing unmanned aerial vehicle may further include: the inter-row spacing value d1 between the adjacent work sections 11 is compared with a preset spacing threshold value d3, and in the case where the inter-row spacing value d1 is smaller than the preset spacing threshold value d3, the flying height of the fixed wing unmanned aerial vehicle is increased and the inter-row spacing value d1 is newly determined based on the new flying height. It will be appreciated that in some cases, in order to meet mapping requirements, it may be necessary to obtain images of the target work parcel 2 with a high image overlap ratio, at which point the work legs 11 of the work route 1 need to be arranged very densely, which may result in an excessively small inter-row spacing value d1 between adjacent work legs 11 of the work route 1. At this time, in order to avoid excessive deviation of the fixed-wing unmanned aerial vehicle from the flight path in the process of turning between the operation sections 11, a large number of operation sections are required to be separated from each other between each operation section and the next operation section during operation, so that the turning distance of the fixed-wing unmanned aerial vehicle is increased. However, an increase in the number of the work sections apart results in an increase in the number of reciprocations of the fixed-wing unmanned aerial vehicle in the direction perpendicular to the work section 11, thereby resulting in a large increase in the length of the working route 1. Therefore, in order to reduce the number of reciprocations of the fixed-wing unmanned aerial vehicle, when the inter-row spacing value d1 determined based on the division parameter is too small, the flying height of the fixed-wing unmanned aerial vehicle during operation may be increased, and the inter-row spacing value d1 may be newly determined based on the new flying height. It will be appreciated that by increasing the altitude of the fixed wing unmanned aerial vehicle, a greater value of the inter-row spacing d1 between adjacent working sections 11 may be used to achieve the same image overlap ratio.
In an alternative embodiment of the present invention, during operation of the fixed wing unmanned aerial vehicle, the end point of the current operation section 11 is located at the same end as the start point of the next operation section 11. In this way, the flight distance of the fixed-wing unmanned aerial vehicle during transition between different working sections 11 can be reduced.
In an embodiment of the present invention, as shown in fig. 4A to 4C, the working route 1 may include a outbound sub-working route 1a and a return sub-working route 1 b. Starting from the first work segment 11 on the left side, all the odd work segments 11 may be connected in sequence from left to right to form the outbound sub-work route 1a (as shown in fig. 4B), and all the even work segments 11 may be connected in sequence from right to left to form the inbound sub-work route 1B (as shown in fig. 4C). The inter-row spacing value d1 is twice between the working sections 11 of the outbound sub-working route 1a and the return sub-working route 1b, and the working sections 11 can be connected by a reversing transition section 12, and the reversing transition section 12 can be arc-shaped or straight. The fixed-wing unmanned aerial vehicle can alternately fly on alternate sub-operation routes, and execute the forward sub-operation route 1a from left to right to complete half of the route task, and then execute the backward sub-operation route 1b from right to left to complete the remaining half of the route task.
As can be seen from a comparison between fig. 2 and fig. 4A, by setting the turning distance of the fixed-wing unmanned aerial vehicle to be twice the inter-row spacing value d1, it is possible to ensure that a sufficient turning margin is left for the fixed-wing unmanned aerial vehicle, so that the fixed-wing unmanned aerial vehicle can fly closer to a planned working route, thereby shortening the actual flight distance 13 of the fixed-wing unmanned aerial vehicle during the reversing process between working sections. It will be appreciated that although the fixed-wing unmanned aerial vehicle needs to fly back and forth in a direction perpendicular to the working section 11, the actual flight distance required by the fixed-wing unmanned aerial vehicle to complete the entire working route as a whole is reduced. In the actual operation task, the fixed-wing unmanned aerial vehicle with a small turning radius and a moderate flying speed can be used for operation, so that the flying distance of the fixed-wing unmanned aerial vehicle in the operation process is reduced.
As shown in FIG. 5, the embodiment of the invention also provides a working route generation device, which comprises an acquisition module 10, a planning module 20, a first determination module 30, a second determination module 40 and a route generation module 50. Wherein the obtaining module 10 is configured to obtain job task information of the target job site, the job task information including a division parameter of the target job site and a job speed of the fixed-wing unmanned aerial vehicle. Planning module 20 is configured to plan a work flight path based on the work task information, wherein the work flight path includes a plurality of work segments parallel to each other, and the partitioning parameter includes an inter-row spacing value d1 between adjacent work segments. The first determination module 30 is configured to determine a turning parameter of the fixed-wing unmanned aerial vehicle according to the operation speed. The second determination module 40 is configured to determine a minimum separation value d2 between each working segment and the next working segment when the fixed-wing unmanned aerial vehicle performs a work task based on the turning parameters. The route generation module 50 is configured to connect the current working segment and the next working segment at least n working segments apart in case the minimum spacing value d2 is greater than the inter-row spacing value d1, wherein when d2/d1 is an integer, n is d2/d 1-1; when d2/d1 is not an integer, n is int (d2/d1), where int is the rounding function. The working route generating device can be a remote controller or a ground station, for example.
In addition, the embodiment of the invention also provides route planning equipment for the fixed-wing unmanned aerial vehicle, which is used for executing the operation route generation method for the fixed-wing unmanned aerial vehicle. Wherein the route planning device may be, for example, a remote control or a ground station.
Accordingly, the embodiment of the invention also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions, and the instructions are used for enabling a processor to execute the operation route generation method for the fixed-wing unmanned aerial vehicle when being executed by the processor.
While the invention has been described in detail with reference to the drawings, the invention is not limited to the details of the embodiments, and various simple modifications can be made within the technical spirit of the embodiments of the invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes instructions for causing a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the idea of the embodiments of the present invention.
Claims (11)
1. A working route generation method for a fixed-wing unmanned aerial vehicle, characterized by comprising:
acquiring operation task information of a target operation land, wherein the operation task information comprises division parameters of the target operation land and operation speed of the fixed-wing unmanned aerial vehicle;
planning a working route according to the working task information, wherein the working route comprises a plurality of working sections which are parallel to each other, and the dividing parameter comprises an inter-row spacing value d1 between the adjacent working sections;
determining turning parameters of the fixed-wing unmanned aerial vehicle according to the operation speed;
determining a minimum distance value d2 between each operation section and the next operation section when the fixed wing unmanned aerial vehicle executes an operation task according to turning parameters;
in case the minimum spacing value d2 is greater than the inter-row spacing value d1, connecting the current working segment and the next working segment at least n working segments apart, wherein:
when d2/d1 is an integer, n is d2/d 1-1;
when d2/d1 is not an integer, n is int (d2/d1), where int is the rounding function.
2. The working route generation method according to claim 1, wherein the working route includes at least one outbound sub-working route and at least one inbound sub-working route;
the journey-going sub-operation route is formed by sequentially connecting operation sections close to the starting point position of the fixed-wing unmanned aerial vehicle from n operation sections to operation sections far away from the starting point position, and the connecting direction is taken as the operation direction; the return sub-operation route is formed by sequentially connecting operation sections which are far away from the starting position and are separated by n operation sections to operation sections which are close to the starting position, and the connecting direction is taken as the operation direction.
3. The working route generation method according to claim 2,
the number of the going sub-operation routes is the same as that of the returning sub-operation routes; or
The number of the outbound sub-working routes is one more than the number of the inbound sub-working routes.
4. The working pattern generation method according to claim 3, wherein the outbound sub-working pattern is alternately connected to the inbound sub-working pattern.
5. The working envelope generation method of claim 1, wherein the partitioning parameter is determined according to at least one of: mapping an image overlap ratio required by the target operation plot, a flight height of the fixed-wing unmanned aerial vehicle, and a flight band width of the fixed-wing unmanned aerial vehicle.
6. The working route generation method according to claim 1, further comprising:
comparing the inter-line spacing value d1 with a preset spacing threshold d 3;
in the event that the inter-row spacing value d1 is less than a preset spacing threshold value d3, the altitude of the fixed-wing unmanned aerial vehicle is increased and the inter-row spacing value d1 is re-determined based on the new altitude.
7. The working route generation method according to claim 1, wherein an end point of a current working section is located at the same end as a start point of a next working section.
8. The working envelope generation method of claim 1, wherein the partitioning parameter further comprises a number of the working segments.
9. A working route generation device for a fixed-wing unmanned aerial vehicle, characterized by comprising:
an acquisition module configured to acquire job task information of a target job land, the job task information including a division parameter of the target job land and a job speed of the fixed-wing unmanned aerial vehicle;
a planning module configured to plan a working route according to the working task information, wherein the working route comprises a plurality of working segments parallel to each other, and the division parameter comprises an inter-row spacing value d1 between the adjacent working segments;
a first determination module configured to determine a turning parameter of the fixed-wing unmanned aerial vehicle according to the operating speed;
a second determination module configured to determine a minimum separation value d2 between each of the operation sections and a next operation section when the fixed-wing unmanned aerial vehicle performs an operation task according to a turning parameter;
a route generation module configured to connect a current working segment and a next working segment at least n working segments apart in case the minimum separation value d2 is greater than the inter-row separation value d1, wherein:
when d2/d1 is an integer, n is d2/d 1-1;
when d2/d1 is not an integer, n is int (d2/d1), where int is the rounding function.
10. An airline planning apparatus for a fixed-wing unmanned aerial vehicle, characterized in that the airline planning apparatus is configured to execute the working airline generation method for a fixed-wing unmanned aerial vehicle according to any one of claims 1 to 8.
11. A machine-readable storage medium having stored thereon instructions for enabling a processor to execute the working route generation method for a fixed-wing unmanned aerial vehicle according to any one of claims 1 to 8 when executed by the processor.
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