CN113074740A

CN113074740A - Air route planning method, device, equipment and medium in operation area

Info

Publication number: CN113074740A
Application number: CN202110475101.4A
Authority: CN
Inventors: 叶凯杰; 朱俊星; 杨余
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-07-06
Anticipated expiration: 2041-04-29
Also published as: CN113074740B

Abstract

The invention discloses a method, a device, equipment and a medium for planning a route in an operation area, wherein the method comprises the following steps: obtaining at least one ridge line included in a plant area to be operated, wherein each ridge line is used for dividing two adjacent rows of plants; dividing a plurality of plant points included in a plant area into a plurality of plant point sets by adopting the ridge lines in the plant area; and generating a single-row operation route corresponding to each plant point set respectively, and forming an area operation route matched with the plant area according to each single-row operation route. The technical scheme of the embodiment of the invention can improve the planning efficiency of the operation route, ensure the effectiveness of the operation route and avoid energy consumption waste.

Description

Air route planning method, device, equipment and medium in operation area

Technical Field

The embodiment of the invention relates to the technical field of flight, in particular to a method, a device, equipment and a medium for planning a route in an operation area.

Background

With the development of the unmanned aerial vehicle technology, various types of unmanned aerial vehicles are widely applied to various industries, so that the working efficiency of the industries is improved, and the consumption of manpower and material resources is reduced. In an actual operation scene, such as a free route application scene similar to an orchard, the positions of fruit trees need to be reasonably connected together to complete the planning of a flight route (namely a route) of the unmanned aerial vehicle in the whole cruising process of the orchard.

The existing fruit tree route planning is generally divided into a full-automatic mode and a manual mode, wherein the full-automatic mode is divided into a full-coverage operation mode and a tree center mode, and the manual mode is that each tree center is manually connected. Wherein, the full-coverage operation mode refers to that the whole operation area (such as a fruit tree area and a ridge area of an orchard) is taken as a navigation area; the full-automatic tree center mode is that according to topographic features and fruit tree distribution conditions, tree centers are connected in sequence through planning calculation, and connected line segments are used as routes.

However, in the full-coverage operation mode, the unmanned aerial vehicle cannot accurately spray the pesticide onto the trees, so that the pesticide waste is easily caused; in the full-automatic tree center mode, for trees with complex terrain and scattered distribution, a reasonable route is difficult to plan, and the full-automatic tree center mode has larger calculated amount and higher calculation cost due to a larger number of fruit trees; in the manual mode, for a large-scale working area, a large amount of labor cost is consumed, and the planned routes are messy and are low in effectiveness.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment and a medium for planning a flight path in an operation area, which can improve the planning efficiency of the operation flight path, ensure the effectiveness of the operation flight path and avoid energy consumption waste.

In a first aspect, an embodiment of the present invention provides a method for planning routes in a work area, where the method includes:

obtaining at least one ridge line included in a plant area to be operated, wherein each ridge line is used for dividing two adjacent rows of plants;

dividing a plurality of plant points included in a plant area into a plurality of plant point sets by adopting the ridge lines in the plant area;

and generating a single-row operation route corresponding to each plant point set respectively, and forming an area operation route matched with the plant area according to each single-row operation route.

In a second aspect, an embodiment of the present invention further provides an air route planning apparatus in a work area, where the apparatus includes:

the ridge line acquisition module is used for acquiring at least one ridge line included in a plant area to be operated, and each ridge line is used for dividing two adjacent rows of plants;

the plant point dividing module is used for dividing a plurality of plant points included in a plant area into a plurality of plant point sets by adopting the ridge lines in the plant area;

and the operation route generation module is used for generating single-row operation routes respectively corresponding to each plant point set and forming an area operation route matched with the plant area according to each single-row operation route.

In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to perform a method of route planning within a work area as provided by any of the embodiments of the invention.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the computer program implements the method for planning routes in a work area according to any embodiment of the present invention.

According to the technical scheme of the embodiment of the invention, the ridge line included in the plant area to be operated is obtained, then the ridge line is adopted to divide a plurality of plant points included in the plant area into a plurality of plant point sets, finally, the single-row operation air route corresponding to each plant point set is generated, and the technical means of the area operation air route is formed according to each single-row operation air route, so that the planning efficiency of the operation air route can be improved, the effectiveness of the operation air route is ensured, and the energy consumption waste is avoided.

Drawings

FIG. 1 is a flow chart of a method for planning routes within a work area in accordance with a first embodiment of the present invention;

FIG. 2a is a flowchart of a method for planning routes within a work area according to a second embodiment of the present invention;

FIG. 2b is a schematic view of a plant area to be worked according to the present embodiment;

FIG. 2c is a schematic view of the ridge lines in a plant area to be worked in this embodiment;

FIG. 2d is a schematic view of the ridge lines in a plant area to be worked in this embodiment;

FIG. 2e is a schematic view of the ridge lines in a plant area to be worked in the present embodiment;

FIG. 3a is a flow chart of a method of route planning within a work area in an embodiment of the present invention;

FIG. 3b is a schematic illustration of a single working flight path in the present embodiment;

FIG. 3c is a schematic illustration of an area work lane in the present embodiment;

FIG. 4 is a block diagram of a flight path planner within an operating area in accordance with a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a computer device in the fifth 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 an airline in a working area according to an embodiment of the present invention, where this embodiment is applicable to a situation in which an airline of an unmanned aerial vehicle is planned according to each plant point in a plant area to be worked, and the method may be executed by an airline planning apparatus in the working area, where the apparatus may be implemented by software and/or hardware, and may be generally integrated in a computer device with a data processing function, for example, a terminal device or a server, and the method specifically includes the following steps:

step 110, obtaining at least one ridge line included in a plant area to be operated, wherein each ridge line is used for dividing two adjacent rows of plants.

In this embodiment, the plant area to be operated is a plant area where the unmanned aerial vehicle waits for cruising, such as an orchard. Before planning the route of the unmanned aerial vehicle in the plant area to be operated, firstly obtaining ridge lines for dividing two adjacent rows of plants.

The ridge line is located in the plant area to be operated, and each ridge line is located between two adjacent rows of plants and used for dividing the two adjacent rows of plants.

In a specific embodiment, the ridge line included in the plant area to be worked can be determined by a deep learning or machine learning method. For example, two adjacent rows of plants can be acquired in a map corresponding to the plant area by an image recognition method, then a plurality of reference points are determined between the two adjacent rows of plants according to the positions of each plant point included in the two adjacent rows of plants, and the ridge line is obtained by connecting the plurality of reference points. The plant point may be a tree center point corresponding to a plant in the plant area.

In another specific embodiment, at least one ridge line constructed by the user for the plant area to be worked can be obtained. After obtaining the map corresponding to the plant area, the user can select a plurality of reference points between two adjacent rows of plants, and at least one ridge line is obtained by connecting the reference points.

Step 120, dividing a plurality of plant points included in the plant area into a plurality of plant point sets by using the ridge line in the plant area.

In this step, after at least one ridge line included in the plant area to be operated is acquired, the plants on the left and right sides of each ridge line can be divided according to the position of each ridge line.

In a specific embodiment, if there is a ridge line between every two adjacent rows of plants in the plant area to be operated, the plant points included in the plants adjacent to the left side of each ridge line may be divided into a set, and the plant points included in the plants adjacent to the right side of each ridge line may be divided into a set.

And 130, generating single-row operation routes corresponding to each plant point set respectively, and forming an area operation route matched with the plant area according to each single-row operation route.

In this step, a plurality of plant points included in each plant point set may be connected to obtain a single row operation route corresponding to each plant point set, and then the single row operation routes are connected to form an area operation route matched with the plant area.

In a specific embodiment, since each plant point is generally planted in the plant area according to a certain planting direction in the plant area to be operated, a plurality of plant points included in each plant point set can be connected according to the planting direction, and a single-row operation route corresponding to each plant point set is obtained.

In the embodiment, the regional operation route is obtained by connecting the plant points in the plant region, so that the unmanned aerial vehicle can accurately spray the pesticide on the plant, and the waste of the pesticide is avoided; secondly, generating a single-row operation route corresponding to each plant point set, and then forming a regional operation route according to each single-row operation route, so that the calculated amount of the operation routes can be reduced, and the planning efficiency of the routes is improved; on the other hand, for plants with complex terrain and scattered distribution, the problem that the planned route is messy can be avoided, the operation route is ensured to be smoother, and the effectiveness of the operation route can be further improved.

On the basis of the above embodiment, dividing a plurality of plant points included in a plant area into a plurality of plant point sets by using a ridge line in the plant area includes: and acquiring a unique ridge line in the plant area, and dividing each plant point on two sides of the unique ridge line into two plant point sets respectively.

If the plant area to be operated only comprises one ridge line, dividing each plant point on two sides of the ridge line into two plant point sets respectively, then connecting a plurality of plant points included in each plant point set according to the planting direction to obtain a single-row operation route corresponding to each plant point set respectively, and finally connecting each single-row operation route to form an area operation route.

Example two

This embodiment is a further refinement of the first embodiment, and the same or corresponding terms as those in the first embodiment are explained, and this embodiment is not repeated. Fig. 2a is a flowchart of a route planning method in a work area according to a second embodiment of the present invention, in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the above embodiments, and in this embodiment, as shown in fig. 2a, the method according to the second embodiment of the present invention may further include:

step 210, obtaining at least one ridge line included in a plant area to be operated, wherein each ridge line is used for dividing two adjacent rows of plants.

In one implementation manner of the embodiment of the present invention, obtaining at least one ridge line included in a plant area to be operated includes: sending a plant map in a plant area and at least one plant point included in the plant map to a human-computer interaction interface for user display; and receiving at least one ridge line input by a user aiming at the plant map through the human-computer interaction interface.

The method comprises the steps of acquiring high-resolution aerial image data corresponding to a plant area by using an unmanned aerial vehicle, carrying out three-dimensional reconstruction on the aerial image data to obtain a plant map, and identifying plant points included in the plant map by using a machine learning method. After the plant map and at least one plant point included in the plant map are sent to a human-computer interaction interface to be displayed, a user can select a plurality of reference points between two adjacent rows of plants in the human-computer interaction interface, then the reference points are connected to obtain one ridge line, and all the ridge lines in the plant area are obtained in the same mode. The ridge line is located in the plant area to be operated, and each ridge line is located between two adjacent rows of plants and used for dividing the two adjacent rows of plants.

In an implementation manner of this embodiment, after at least one ridge line input by a user is received through a human-computer interaction interface, whether the ridge line input by the user is valid or not can be judged according to the position of each ridge line and the positions of plant points distributed in two rows of plants adjacent to each ridge line left and right, and when the fact that the ridge line determined by the user is invalid is detected, the user can be reminded to modify the ridge line through the human-computer interaction interface.

Fig. 2b is a schematic diagram of a plant area to be operated in this embodiment, and as shown in fig. 2b, a total of 23 plant points are assumed to be included in the plant area, where plant point 0 to plant point 7 are plants in a first row, plant point 8 to plant point 15 are plants in a second row, and plant point 16 to plant point 22 are plants in a third row. Fig. 2c is a schematic diagram of ridge lines in a plant area to be worked in the embodiment, and as shown in fig. 2c, it is assumed that a user determines a ridge line 201 between a first row of plants and a second row of plants in the plant area, and a ridge line 202 between the second row of plants and a third row of plants. Because some plant points (plant points 12, 13, and 14 in fig. 2 c) in the row of plants on the right side of the ridge line 201 fall into the left side of the ridge line 201, that is, the ridge line 201 cannot divide the first row of plants from the second row of plants, the ridge line 201 can be considered as an invalid ridge line.

In an implementation manner of this embodiment, after receiving at least one ridge line input by a user through a human-computer interaction interface, the plant map and each ridge line input by the user may be displayed to the user through the human-computer interaction interface, and when the user finds that the input ridge line is incomplete or invalid, the ridge line may be modified through the human-computer interaction interface.

Fig. 2d is a schematic diagram of another ridge line in the plant area to be operated in this embodiment, as shown in fig. 2d, a user may modify the ridge line 201 in fig. 2c to obtain a new ridge line 203, and the ridge line 203 may effectively divide the first row of plants and the second row of plants.

In this embodiment, show the user through plant map and the plant point with the plant region intra-area, and receive the ridge line of user input, can guarantee that the ridge line is effectively cut apart two rows of adjacent plants, and the follow-up ridge line that adopts of being convenient for divides a plurality of plant points that include in the plant region.

In another implementation manner of the embodiment of the present invention, obtaining at least one ridge line included in a plant area to be operated includes: acquiring a regional map corresponding to the plant region, wherein a plurality of plant points are marked in the regional map in advance; inputting the area map into a pre-trained ridge line recognition model, and acquiring at least one ridge line output by the ridge line recognition model aiming at the area map.

The ridge line recognition model is obtained by training area maps corresponding to a plurality of other plant areas, and a plurality of plant points are marked in each area map in advance. Before ridge lines included in a plant area to be operated are obtained, the multiple area maps can be divided into a training data set and a testing data set, and then iterative training is carried out on a neural network model by using the training data set and the testing data set to obtain the ridge line recognition model. After the ridge line identification model is established, the area map corresponding to the plant area to be operated is identified through the ridge line identification model, at least one ridge line in the area map can be obtained, automation of the ridge line acquisition process can be achieved, and planning efficiency of the operation route is improved.

And 220, sequencing the ridge lines along a set spatial arrangement direction according to the relative position relationship between at least two ridge lines.

In this step, the relative positional relationship is a position where one ridge line is located with respect to the other ridge line, and the located position includes the left and right sides. In a specific embodiment, the midpoint position of each ridge line may be obtained, the relative position relationship between each ridge line is obtained according to the midpoint position of each ridge line, and each ridge line is sorted along the set spatial arrangement direction according to the relative position relationship between each ridge line. The ridge lines can be sorted from left to right or from right to left.

And 230, dividing each plant point on the target side of the ridge line at the extreme position into a first plant point set according to the sorting result, and dividing each plant point between every two adjacent ridge lines into a second plant point set.

In this step, the target side of the limit position ridge line is the side where the limit position ridge line is not adjacent to other ridge lines in the sorting result. The limit position ridge lines are the leftmost ridge line and the rightmost ridge line in all the ridge lines. As shown in fig. 2d, it is assumed that the ridge lines are sorted from left to right, the limit position ridge lines include

ridge lines

202 and 203, and when the limit position ridge line is the ridge line 202, other ridge lines in the sorting result are located on the left side of the ridge line 202, so that the target side corresponding to the ridge line 202 is the right side of the ridge line 202. Similarly, when the ridge line at the limit position is the ridge line 203, the target side corresponding to the ridge line 203 is the left side of the ridge line 203.

In this embodiment, taking the plant areas and ridge lines in fig. 2d as an example, the plant points (plant point 0 to plant point 7) on the left side of the ridge line 203 may be divided into a first plant point set, the plant points (plant point 8 to plant point 15) between the

adjacent ridge lines

203 and 202 may be divided into a second plant point set, and the plant points (plant point 16 to plant point 22) on the right side of the ridge line 202 may be divided into the first plant point set.

In an implementation manner of the embodiment of the present invention, dividing each plant point located on the target side of the extreme position ridge line into a first plant point set and dividing each plant point located between every two adjacent ridge lines into a second plant point set according to the sorting result includes:

and 231, sequentially acquiring a ridge line as the current ridge line according to the sequencing result.

Step 232, if the current ridge line is the first ridge line, acquiring a limit search area corresponding to the target side of the current ridge line, and dividing each plant point in the limit search area into a first plant point set; and constructing an adjacent search area according to the current ridge line and a next ridge line adjacent to the current ridge line in the sequencing result, and dividing each plant point in the adjacent search area into a second plant point set.

In this embodiment, it is assumed that the ridge lines are sorted in the order from left to right, if the current ridge line is the first ridge line, that is, the leftmost ridge line in all the ridge lines, the limit search area corresponding to the target side of the ridge line is the plant area located on the left side of the leftmost ridge line, and the plant points located in the limit search area are divided into a first plant point set, and then the plant points between the ridge line and the next adjacent ridge line in the sorting result are divided into a second plant point set.

Fig. 2e is a schematic diagram of ridge lines in a plant area to be operated in this embodiment, and as shown in fig. 2e, assuming that after the ridge lines are sorted in the order from left to right, the current ridge line is the first ridge line, i.e., the ridge line 203 in fig. 2e, each plant point in the plant area located on the left of the ridge line 203 is divided into a first plant point set, and then each plant point between the ridge line 203 and an adjacent next ridge line (i.e., the ridge line 202) in the sorting result is divided into a second plant point set.

In this embodiment, in order to avoid omission of plant point division, an embodiment is proposed in which an adjoining search area is constructed between adjacent ridge lines, and each plant point located in the adjoining search area is divided into a second plant point set. Wherein, construct the adjacency search region according to current ridge line and the next ridge line adjacent with current ridge line in the sequencing result, include: respectively identifying two edge points in the current ridge line and the next ridge line; and determining a closed polygon formed by correspondingly connecting edge points in the current ridge line and the next ridge line as an adjacent search area.

As shown in fig. 2e, assuming that the current ridge line is a ridge line 203, the next ridge line adjacent to the current ridge line is a ridge line 202, two edge points of the current ridge line are 204 and 205, respectively, and two edge points of the next adjacent ridge line are 206 and 207, respectively, the four edge points are correspondingly connected to obtain a closed polygon in fig. 2e, the closed polygon is determined as an adjacent search area, and each plant point in the adjacent search area is divided into a second plant point set.

And 233, if the current ridge line is the last ridge line, acquiring a limit search area corresponding to the target side of the current ridge line, and dividing each plant point in the limit position search area into a first plant point set.

In this embodiment, it is assumed that the ridge lines are ordered from left to right, if the current ridge line is the last ridge line, that is, the rightmost ridge line in all the ridge lines, the limit search area corresponding to the target side of the ridge line is the plant area located on the right of the rightmost ridge line, and each plant point located in the limit search area is divided into the first plant point set.

As shown in fig. 2e, assuming that after the ridge lines are sorted from left to right, the current ridge line is the last ridge line, i.e., the ridge line 202 in fig. 2e, then the plant points in the plant area on the right side of the ridge line 202 are divided into the first plant point set.

And 234, if the current ridge line is not the first ridge line or the last ridge line, constructing an adjacent search area according to the current ridge line and the next ridge line adjacent to the current ridge line in the sequencing result, and dividing each plant point in the adjacent search area into a second plant point set.

After the current ridge line is processed, the operation of sequentially obtaining one ridge line as the current ridge line in the execution step 231 according to the sorting result is returned until the processing of all the ridge lines is completed.

From this, through arranging each ridge line along setting for the space direction of arranging and ordering to according to the sequencing result, automatic each plant point that will be located extreme position ridge line target side divides in first plant point set, divides each plant point that will be located between per two adjacent ridge lines in second plant point set, can realize carrying out reasonable division to each plant point, avoids the plant point to divide and appears omitting.

It should be emphasized again that the process from 231 to 234 is a specific process executed by a computer program which automatically divides all plant points into the first plant point set or the second plant point set through multiple cycles. The process comprises the following steps: and a specific computer implementation process of dividing each plant point on the target side of the ridge line at the extreme position into a first plant point set and dividing each plant point between every two adjacent ridge lines into a second plant point set according to the sorting result.

Therefore, different specific implementation rules need to be set in advance according to the sequencing positions (extreme positions or non-extreme positions) of each ridge line in all the ridge lines to obtain the first plant point set and/or the second plant point set corresponding to the ridge lines at different positions, and then based on the specific implementation rules, the corresponding division of all the plant points into the first plant point set or the second plant point set is automated.

Of course, one skilled in the art will appreciate that other rule implementations may also be defined: the operation of dividing each plant point located on the target side of the ridge line at the extreme position into a first plant point set and dividing each plant point located between every two adjacent ridge lines into a second plant point set is not limited in the embodiment of the present invention.

And 240, generating a single-row operation route corresponding to each plant point set respectively, and forming an area operation route matched with the plant area according to each single-row operation route.

In this embodiment, taking the plant area and the ridge line in fig. 2e as an example, each plant point in the plant area may be divided into three plant point sets, where plant point 0 to plant point 7 are one plant point set, plant point 8 to plant point 15 are one plant point set, and plant point 16 to plant point 12 are one plant point set.

After the three plant point sets are obtained, a plurality of plant points included in each plant point set can be connected to obtain single-row operation routes respectively corresponding to each plant point set, and then the single-row operation routes are connected to form an area operation route matched with the plant area.

In the embodiment, after the regional operation route matched with the plant region is formed, the regional operation route can be displayed to the user through the human-computer interaction interface, and when the user finds that the regional operation route is inaccurate, the input ridge line can be modified again through the human-computer interaction interface, so that the regional operation route can be formed again according to the ridge line modified by the user.

According to the technical scheme of the embodiment of the invention, through acquiring the ridge lines included in the plant area to be operated, sequencing the ridge lines along the set spatial arrangement direction according to the relative position relation between at least two ridge lines, dividing the plant points positioned on the target side of the ridge line at the extreme position into a first plant point set according to the sequencing result, dividing the plant points positioned between every two adjacent ridge lines into a second plant point set, then generating a single-row operation route corresponding to each plant point set respectively, and forming the technical means of the regional operation route according to each single-row operation route, the planning efficiency of the operation route can be improved, the effectiveness of the operation route is ensured, and the energy consumption waste is avoided.

EXAMPLE III

This embodiment is a further refinement of the second embodiment, and the same or corresponding terms as those in the first embodiment are explained, and this embodiment is not repeated. Fig. 3a is a flowchart of a route planning method in a work area according to a third embodiment of the present invention, in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the above embodiments, and in this embodiment, as shown in fig. 3a, the method according to the third embodiment of the present invention may further include:

and 310, acquiring at least one ridge line included in a plant area to be operated, wherein each ridge line is used for dividing two adjacent rows of plants.

And 320, sequencing the ridge lines along a set spatial arrangement direction according to the relative position relationship between at least two ridge lines.

In an implementation manner of the embodiment of the present invention, sorting the ridge lines along a set spatial arrangement direction according to a relative position relationship between at least two ridge lines includes: calculating the vector product between any two ridge lines; and sequencing the ridge lines along a set spatial arrangement direction according to the vector product calculation result.

In a specific embodiment, two target points may be obtained on two currently processed ridge lines, respectively, and according to the target points, a target vector corresponding to each ridge line is constructed along the positive direction of the spatial two-dimensional coordinate system, and then the product of each target vector is calculated.

After the vector product between any two ridge lines is obtained through calculation, the relative position relation between any two ridge lines can be obtained according to the vector product calculation result, and the ridge lines are sequenced along the set spatial arrangement direction according to the relative position relation between the ridge lines.

Therefore, by calculating the vector product between every two ridge lines and sequencing the ridge lines along the set spatial arrangement direction according to the vector product calculation result, the accuracy of the sequencing result of the ridge lines can be improved.

In one embodiment of this embodiment, calculating the cross product between any two ridge lines includes: acquiring a first ridge line and a second ridge line to be processed currently; if the first ridge line or the second ridge line is not a straight line, dividing the first ridge line and the second ridge line into a plurality of local fitting straight line segments respectively; and respectively calculating local vector products between corresponding local fitting straight line sections in the first ridge line and the second ridge line, and calculating the vector products between the first ridge line and the second ridge line according to the local vector products.

In this embodiment, if the ridge line is not a straight line, an implementation of dividing the ridge line into a plurality of local fitting straight line segments is provided in order to improve the accuracy of the vector product calculation result. If the first ridge line or the second ridge line is not a straight line, the first ridge line and the second ridge line are divided into local fitting straight line segments with equal number according to preset lengths, then local vector products between the corresponding local fitting straight line segments in the first ridge line and the second ridge line are calculated respectively, and the local vector products are superposed to obtain the vector product between the first ridge line and the second ridge line.

In this embodiment, according to the result of the vector product calculation, sorting the ridge lines along a predetermined spatial arrangement direction includes: according to the vector product calculation result, obtaining target ridge lines positioned at the extreme positions in the spatial arrangement direction from all the ridge lines to be sorted; and after adding the target ridge lines into the sorting result, returning to execute a calculation result according to a vector product, and acquiring the target ridge lines positioned at the extreme positions in the spatial arrangement direction from all the ridge lines to be sorted until the processing of all the ridge lines is completed.

After the vector product between any two ridge lines is obtained through calculation, the relative position relation between any two ridge lines can be obtained according to the vector product calculation result, and the target ridge line positioned at the leftmost side or the rightmost side is obtained in each ridge line to be sorted according to the relative position relation between each ridge line. If the ridge lines need to be sequenced from left to right, the target ridge line positioned at the leftmost side can be added into the sequencing result, the target ridge line is removed from the ridge lines to be sequenced, then the target ridge line positioned at the leftmost side is obtained again from the remaining ridge lines to be sequenced according to the relative position relationship among the remaining ridge lines to be sequenced, and the target ridge line is added into the sequencing result until all the ridge lines are processed.

And 330, dividing each plant point on the target side of the ridge line at the extreme position into a first plant point set according to the sorting result, and dividing each plant point between every two adjacent ridge lines into a second plant point set.

And 340, aiming at each plant point set, sequencing the plant points in each plant point set according to the distance from the plant point set to a target fixed point in the same ridge line.

In this embodiment, for each plant point set, the distance between each plant point in the plant point set and the target fixed point in the same ridge line may be calculated, and then the plant points included in the plant point set are sorted in the order of the distance from small to large or from large to small. Taking the plant area and the ridge line in fig. 2e as an example, the

ridge lines

202 and 203 may divide each plant point into three plant point sets, and for the plant point set (including plant point 0 to plant point 7) on the left side of the ridge line 203, the distance between each plant point in the plant point set and the target fixed point 204 in the ridge line 203 may be calculated, and then the plant points included in the plant point set are sorted in the order of the distance from small to large or from large to small.

And 350, connecting the plant points in each plant point set in series according to the sorting result to form a single-row operation route corresponding to each plant point set.

In this step, taking the plant areas and the ridge lines in fig. 2e as an example, after the plant points included in each plant point set are sorted, the plant points in each plant point set are connected in series according to the sorting result, so as to form a single row operation route corresponding to each plant point set, as shown in fig. 3 b.

And step 360, forming an area operation route matched with the plant area according to each single-row operation route.

In one implementation manner of the embodiment of the present invention, forming an area operation route matched with the plant area according to each single row operation route comprises: acquiring an operation starting point corresponding to the plant area; sequencing the single-row operation routes from near to far from the operation starting point according to the sequence of the single-row operation routes; and according to the sequencing result, sequentially connecting the operation starting point and the starting and ending points of the single-row operation routes to form an area operation route matched with the plant area.

In this embodiment, the operation starting point corresponding to the plant area may be a route starting point of a route to be planned, the single-row operation routes are sorted in order from near to far by calculating the distance between each single-row operation route and the operation starting point, then the operation starting point is connected with the starting point of the first single-row operation route (the starting point is the edge point closest to the operation starting point in the first single-row operation route) in the sorting result, then the end point of the first single-row operation route (the end point is the other edge point except the starting point in the first single-row operation route) is connected with the starting point of the next single-row operation route (the starting point is the edge point closest to the end point in the next single-row operation route), and finally the remaining single-row operation routes are connected in the same manner, and a connecting line between the operation starting point and the first single-row operation route is connected, And connecting lines among the single-row operation routes are used as the area operation routes matched with the plant area.

The shortest distance between the upper edge point of each single-row operation route and the operation starting point can be used as the distance between each single-row operation route and the operation starting point. For example, assuming that the work starting point is a, and a single-row work route includes two edge points, namely an edge point B and an edge point C, the distance between the work starting point a and the edge point B may be calculated first, then the distance between the work starting point a and the edge point C may be calculated, and the distance with the smallest value of the two distances may be used as the distance between the single-row work route and the work starting point.

Fig. 3c is a schematic diagram of the regional operation routes in this embodiment, and as shown in fig. 3c, after three single-row operation routes are formed, the distances between the operation starting point 301 and each single-row operation route are respectively calculated, and after the single-row operation routes are sorted according to the order from near to far, the first single-row operation route in the sorting result includes plant points 0 to 7, the second single-row operation route includes plant points 8 to 15, and the third single-row operation route includes plant points 16 to 22.

By calculating the distance between the operation starting point 301 and the edge points (plant point 0 and plant point 7) included in the first single-row operation route, the starting point of the first single-row operation route can be determined to be the plant point 7, the end point is the plant point 0, and then the operation starting point 301 is connected with the plant point 7; then, calculating the distance between the plant point 0 and the edge point (the plant point 8 and the plant point 15) included in the second single row operation route, determining that the starting point of the second single row operation route is the plant point 8 and the end point is the plant point 15, and connecting the plant point 0 with the plant point 8; finally, the distance between the plant point 15 and the edge points (the plant point 16 and the plant point 22) included in the third single row operation route is calculated, the starting point of the third single row operation route can be determined to be the plant point 22, the end point of the third single row operation route is determined to be the plant point 16, and the plant point 15 is connected with the plant point 22.

As shown in fig. 3c, a connecting line between the route starting point 301 and the plant point 7, a single row operation route between the plant point 7 and the plant point 0, a connecting line between the plant point 0 and the plant point 8, a single row operation route between the plant point 8 and the plant point 15, a connecting line between the plant point 15 and the plant point 22, and a single row operation route between the plant point 22 and the plant point 16 jointly form an area operation route matched with the plant area.

In the embodiment, the starting point of the first single-row operation air route to be cruising is determined by calculating the operation starting point and the distance between the operating starting point and the edge point of each single-row operation air route, and the starting point of the next single-row operation air route to be cruising is determined according to the distance between the edge point of the first single-row operation air route to be cruising and the edge point of the next single-row operation air route, so that the planned operation air route can be ensured to have shorter distance, and the resource consumption caused when the unmanned aerial vehicle navigates according to the operation air route is reduced.

The technical scheme of the embodiment of the invention comprises the steps of obtaining ridge lines included in a plant area to be operated, sequencing the ridge lines along a set spatial arrangement direction according to the relative position relationship between at least two ridge lines, dividing each plant point positioned on the target side of the ridge line at the limit position into a first plant point set according to a sequencing result, dividing each plant point positioned between every two adjacent ridge lines into a second plant point set, sequencing each plant point included in each plant point set according to the distance from the plant point set to a target fixed point in the same ridge line aiming at each plant point set, connecting the plant points in each plant point set in series according to the sequencing result to form a single-row operation route corresponding to each plant point set, and finally forming a technical means of a regional operation route according to each single-row operation route, the planning efficiency of the operation route can be improved, the effectiveness of the operation route is ensured, and the energy consumption waste is avoided.

Example four

Fig. 4 is a structural diagram of an air route planning device in an operation area according to a fourth embodiment of the present invention, where the device includes: a ridge line obtaining module 410, a plant point dividing module 420 and a working route generating module 430.

The ridge line obtaining module 410 is configured to obtain at least one ridge line included in a plant area to be operated, where each ridge line is used to divide two adjacent rows of plants;

a plant point dividing module 420, configured to divide the plant points included in the plant area into a plurality of plant point sets by using the ridge line in the plant area;

and the operation route generating module 430 is configured to generate a single-row operation route corresponding to each plant point set, and form an area operation route matched with the plant area according to each single-row operation route.

On the basis of the foregoing embodiments, the ridge line obtaining module 410 may include:

the plant map display unit is used for sending the plant map in the plant area and at least one plant point included in the plant map to a human-computer interaction interface for user display;

the ridge line receiving unit is used for receiving at least one ridge line input by a user aiming at the plant map through the human-computer interaction interface;

the regional map acquisition unit is used for acquiring a regional map corresponding to the plant region, and a plurality of plant points are marked in the regional map in advance;

and the area map input unit is used for inputting the area map into a pre-trained ridge line recognition model and acquiring at least one ridge line output by the ridge line recognition model aiming at the area map.

Plant point division module 420 may include:

the ridge line sequencing unit is used for sequencing the ridge lines along a set spatial arrangement direction according to the relative position relationship between at least two ridge lines;

the plant point set dividing unit is used for dividing each plant point positioned on the target side of the ridge line at the extreme position into a first plant point set according to the sequencing result and dividing each plant point positioned between every two adjacent ridge lines into a second plant point set;

wherein, the target side of the ridge line at the limit position is one side of the ridge line at the limit position which is not adjacent to other ridge lines in the sequencing result;

a current ridge line obtaining unit, configured to sequentially obtain one ridge line as a current ridge line according to the sorting result;

the first ridge line processing unit is used for acquiring a limit search area corresponding to the target side of the current ridge line if the current ridge line is the first ridge line, and dividing each plant point in the limit search area into a first plant point set; constructing an adjacent search area according to the current ridge line and a next ridge line adjacent to the current ridge line in the sequencing result, and dividing each plant point in the adjacent search area into a second plant point set;

a last ridge line processing unit, configured to, if the current ridge line is a last ridge line, obtain a limit search area corresponding to a target side of the current ridge line, and divide each plant point located in the limit position search area into a first plant point set;

the middle ridge line processing unit is used for constructing an adjacent search area according to the current ridge line and a next ridge line adjacent to the current ridge line in the sequencing result if the current ridge line is not the first ridge line or the last ridge line, and dividing each plant point in the adjacent search area into a second plant point set;

all ridge line processing units are used for returning to execute the operation of sequentially acquiring one ridge line as the current ridge line according to the sequencing result until the processing of all ridge lines is completed;

the vector product calculation unit is used for calculating the vector product between any two ridge lines;

the sorting unit is used for sorting the ridge lines along a set spatial arrangement direction according to a vector product calculation result;

the first ridge line obtaining unit is used for obtaining a first ridge line and a second ridge line to be processed currently;

the local fitting straight line segment dividing unit is used for dividing the first ridge line and the second ridge line into a plurality of local fitting straight line segments respectively if the first ridge line or the second ridge line is not a straight line;

the local vector product calculation unit is used for calculating local vector products between corresponding local fitting straight line sections in the first ridge line and the second ridge line respectively, and calculating the vector products between the first ridge line and the second ridge line according to the local vector products;

a target ridge line obtaining unit, configured to obtain, from each ridge line to be sorted, a target ridge line located at an extreme position in the spatial arrangement direction according to a vector product calculation result;

a target ridge line adding unit, configured to add the target ridge line to the sorting result, and then return to execute a calculation result according to a vector product, and obtain, from each ridge line to be sorted, a target ridge line located at an extreme position in the spatial arrangement direction until all ridge lines are processed;

an edge point identification unit, configured to identify two edge points in the current ridge line and the subsequent ridge line, respectively;

an adjacent search area determining unit, configured to determine a closed polygon formed by correspondingly connecting edge points in the current ridge line and the subsequent ridge line as the adjacent search area;

and the unique ridge line acquisition unit is used for acquiring the unique ridge line in the plant area and dividing each plant point on two sides of the unique ridge line into two plant point sets respectively.

The working route generation module 430 may include:

the plant point sorting unit is used for sorting the plant points in each plant point set according to the distance from the plant point set to a target fixed point in the same ridge line aiming at each plant point set;

the plant point serial unit is used for serially connecting the plant points in each plant point set according to the sorting result to form a single-row operation route corresponding to each plant point set;

an operation starting point obtaining unit, configured to obtain an operation starting point corresponding to the plant area;

the route sequencing unit is used for sequencing the single-row operation routes from near to far from the operation starting point according to the sequence of the single-row operation routes;

and the route connecting unit is used for sequentially connecting the operation starting point and the starting and ending points of the single-row operation routes according to the sequencing result to form an area operation route matched with the plant area.

The route planning device in the operation area provided by the embodiment of the invention can execute the route planning method in the operation area provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

EXAMPLE five

Fig. 5 is a schematic structural diagram of a computer apparatus according to a fifth embodiment of the present invention, as shown in fig. 5, the computer apparatus includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of the processors 510 in the computer device may be one or more, and one processor 510 is taken as an example in fig. 5; the processor 510, the memory 520, the input device 530 and the output device 540 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 5. Memory 520, which may be a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a method of route planning within a work area in any embodiment of the present invention (e.g., a line-of-ridges acquisition module 410, a plant point division module 420, and a work route generation module 430 in a route planning apparatus within a work area). Processor 510 implements one of the above-described methods of route planning within a work area by executing software programs, instructions, and modules stored in memory 520 to perform various functional applications and data processing of the computer device. That is, the program when executed by the processor implements:

The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage 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 520 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, memory 520 may further include memory located remotely from processor 510, which may be connected to a computer device through 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 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus, and may include a keyboard and a mouse, etc. The output device 540 may include a display device such as a display screen.

EXAMPLE six

The sixth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method according to any embodiment of the present invention. Of course, the embodiment of the present invention provides a computer-readable storage medium, which can perform related operations in a method for planning routes in a working area according to any embodiment of the present invention. That is, the program when executed by the processor implements:

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 above embodiment of the route planning device in the working area, the included units and modules are only divided according to the functional logic, but 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

1. A method of route planning in a work area, comprising:

2. The method of claim 1, wherein obtaining at least one ridge line included in a plant area to be worked comprises:

sending a plant map in a plant area and at least one plant point included in the plant map to a human-computer interaction interface for user display;

and receiving at least one ridge line input by a user aiming at the plant map through the human-computer interaction interface.

3. The method of claim 1, wherein obtaining at least one ridge line included in a plant area to be worked comprises:

acquiring a regional map corresponding to the plant region, wherein a plurality of plant points are marked in the regional map in advance;

inputting the area map into a pre-trained ridge line recognition model, and acquiring at least one ridge line output by the ridge line recognition model aiming at the area map.

4. The method of claim 1, wherein dividing the plurality of plant points included in a plant area into a plurality of sets of plant points using the ridge line within the plant area comprises:

sequencing the ridge lines along a set spatial arrangement direction according to the relative position relationship between at least two ridge lines;

dividing each plant point positioned on the target side of the ridge line at the extreme position into a first plant point set according to the sequencing result, and dividing each plant point positioned between every two adjacent ridge lines into a second plant point set;

and the target side of the ridge line at the limit position is one side of the ridge line at the limit position, which is not adjacent to other ridge lines in the sequencing result.

5. The method of claim 4, wherein dividing plant points on the target side of the extreme position ridge lines into a first set of plant points and dividing plant points between every two adjacent ridge lines into a second set of plant points according to the sorting results comprises:

sequentially acquiring a ridge line as a current ridge line according to the sequencing result;

if the current ridge line is the first ridge line, acquiring a limit search area corresponding to the target side of the current ridge line, and dividing each plant point in the limit search area into a first plant point set; constructing an adjacent search area according to the current ridge line and a next ridge line adjacent to the current ridge line in the sequencing result, and dividing each plant point in the adjacent search area into a second plant point set;

if the current ridge line is the last ridge line, acquiring a limit search area corresponding to the target side of the current ridge line, and dividing each plant point in the limit position search area into a first plant point set;

if the current ridge line is not the first ridge line or the last ridge line, constructing an adjacent search area according to the current ridge line and the next ridge line adjacent to the current ridge line in the sequencing result, and dividing each plant point in the adjacent search area into a second plant point set;

and returning to execute the operation of sequentially acquiring one ridge line as the current ridge line according to the sequencing result until the processing of all the ridge lines is completed.

6. The method of claim 4, wherein sorting the ridge lines along a set spatial arrangement direction according to a relative positional relationship between at least two ridge lines comprises:

calculating the vector product between any two ridge lines;

and sequencing the ridge lines along a set spatial arrangement direction according to the vector product calculation result.

7. The method of claim 6, wherein calculating the cross product between any two ridge lines comprises:

acquiring a first ridge line and a second ridge line to be processed currently;

if the first ridge line or the second ridge line is not a straight line, dividing the first ridge line and the second ridge line into a plurality of local fitting straight line segments respectively;

and respectively calculating local vector products between corresponding local fitting straight line sections in the first ridge line and the second ridge line, and calculating the vector products between the first ridge line and the second ridge line according to the local vector products.

8. The method of claim 6, wherein sorting the ridge lines along a set spatial arrangement direction according to a result of the vector product calculation comprises:

according to the vector product calculation result, obtaining target ridge lines positioned at the extreme positions in the spatial arrangement direction from all the ridge lines to be sorted;

and after adding the target ridge lines into the sorting result, returning to execute a calculation result according to a vector product, and acquiring the target ridge lines positioned at the extreme positions in the spatial arrangement direction from all the ridge lines to be sorted until the processing of all the ridge lines is completed.

9. The method of claim 5, wherein constructing the adjacency search region according to the current ridge line and a next ridge line adjacent to the current ridge line in the sorting result comprises:

respectively identifying two edge points in the current ridge line and the next ridge line;

and determining a closed polygon formed by correspondingly connecting edge points in the current ridge line and the next ridge line as the adjacent search area.

10. The method of claim 1, wherein dividing the plurality of plant points included in a plant area into a plurality of sets of plant points using the ridge line within the plant area comprises:

and acquiring a unique ridge line in the plant area, and dividing each plant point on two sides of the unique ridge line into two plant point sets respectively.

11. The method of any one of claims 1-10, wherein generating a single row of work lanes corresponding to each set of plant points comprises:

aiming at each plant point set, sorting each plant point in each plant point set according to the distance from the plant point set to a target fixed point in the same ridge line;

and connecting the plant points in each plant point set in series according to the sorting result to form a single-row operation route corresponding to each plant point set.

12. The method according to any one of claims 1 to 10, wherein forming an area working path matching the plant area according to each of the single row working paths comprises:

acquiring an operation starting point corresponding to the plant area;

sequencing the single-row operation routes according to the sequence of the single-row operation routes from the near to the far away from the operation starting point;

and according to the sequencing result, sequentially connecting the operation starting point and the starting and ending points of the single-row operation routes to form an area operation route matched with the plant area.

13. An airline planning apparatus in a work area, comprising:

14. A computer device, comprising:

one or more processors;

a memory for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement a method of route planning within a work area as recited in any of claims 1-12.

15. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of route planning in a working area according to any one of claims 1-12.