CN113074740B - Route planning method, device, equipment and medium in operation area - Google Patents
Route planning method, device, equipment and medium in operation area Download PDFInfo
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- CN113074740B CN113074740B CN202110475101.4A CN202110475101A CN113074740B CN 113074740 B CN113074740 B CN 113074740B CN 202110475101 A CN202110475101 A CN 202110475101A CN 113074740 B CN113074740 B CN 113074740B
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 239000013598 vector Substances 0.000 claims description 39
- 238000012163 sequencing technique Methods 0.000 claims description 34
- 238000004364 calculation method Methods 0.000 claims description 19
- 230000003993 interaction Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 5
- 239000002699 waste material Substances 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 9
- 235000013399 edible fruits Nutrition 0.000 description 5
- 239000002420 orchard Substances 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000003062 neural network model Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses a route planning method, a device, equipment and a medium in an operation area, comprising the following steps: 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; dividing a plurality of plant points included in the plant area into a plurality of plant point sets by adopting the ridge line in the plant area; 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 the waste of energy consumption.
Description
Technical Field
The embodiment of the invention relates to the technical field of flight, in particular to a route planning method, device, equipment and medium in an operation area.
Background
Along with the development of unmanned aerial vehicle technology, various types of unmanned aerial vehicles are widely applied to various industries, so that the working efficiency of the various 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 all fruit trees are required to be reasonably connected so as 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 route planning of the fruit trees 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 each tree center is connected manually in the manual mode. The full-coverage operation mode refers to taking the whole operation area (such as a fruit tree area and a ridge area of an orchard) as a navigation area; the full-automatic tree core mode refers to sequentially connecting each tree core through planning calculation according to the topographic features and the fruit tree distribution condition, and taking the connected line segments as the route.
However, in the full coverage mode of operation, the unmanned aerial vehicle cannot accurately spray pesticides onto the tree, which is prone to drug waste; in the full-automatic tree-core mode, for complex terrains and scattered trees, reasonable routes are difficult to plan, and the calculated amount of the full-automatic tree-core mode is large and the calculation cost is high due to the large number of fruit trees; in the manual mode, for a large-scale operation area, a large amount of labor cost is required, and the planned route is messy and has low effectiveness.
Disclosure of Invention
The embodiment of the invention provides a route planning method, device, equipment and medium in an operation area, which can improve the planning efficiency of an operation route, ensure the effectiveness of the operation route and avoid energy consumption waste.
In a first aspect, an embodiment of the present invention provides a method for planning an air route in a working area, the method including:
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;
dividing a plurality of plant points included in the plant area into a plurality of plant point sets by adopting the ridge line in the plant area;
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 apparatus for planning an air route in a working 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 the plant area into a plurality of plant point sets by adopting the ridge line in the plant area;
the operation route generation module is used for generating single-row operation routes corresponding to each plant point set respectively, and forming regional operation routes matched with the plant regions according to the single-row operation routes.
In a third aspect, an embodiment of the present invention further provides a computer apparatus, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method of planning a route within a work area provided by any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor implements a method for planning a route within a work area provided by any embodiment of the present invention.
According to the technical scheme, the ridge lines included in the plant area to be operated are obtained, then the ridge lines are adopted to divide a plurality of plant points included in the plant area into a plurality of plant point sets, finally, single-row operation routes corresponding to each plant point set are generated, and technical means of the regional operation routes are formed according to the single-row operation routes, so that planning efficiency of the operation routes can be improved, effectiveness of the operation routes is guaranteed, and energy consumption waste is avoided.
Drawings
FIG. 1 is a flow chart of a method of planning an air route within an operating area in accordance with a first embodiment of the present invention;
FIG. 2a is a flow chart of a method of planning an air route in an operating area in accordance with a second embodiment of the present invention;
FIG. 2b is a schematic view of a plant area to be worked in this embodiment;
FIG. 2c is a schematic view of ridge lines in a plant area to be worked in this embodiment;
FIG. 2d is a schematic view of ridge lines in a plant area to be worked in this embodiment;
FIG. 2e is a schematic view of ridge lines in a plant area to be worked in this embodiment;
FIG. 3a is a flow chart of a method of planning an en-route within a work area in accordance with an embodiment of the present invention;
FIG. 3b is a schematic illustration of a single row line of the present embodiment;
FIG. 3c is a schematic illustration of a regional operation route in the present embodiment;
FIG. 4 is a block diagram of an airliner in an operational area in accordance with a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device in a fifth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of an airline planning method in an operation area according to an embodiment of the present invention, where the method may be applied to a situation of planning an airline of an unmanned aerial vehicle according to each plant point in a plant area to be operated, and the method may be performed by an airline planning device in the operation area, where the device may be implemented by software and/or hardware, and may be generally integrated in a computer device having 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 worked is a plant area where the unmanned aerial vehicle waits to cruise, such as an orchard. Before planning the route of the unmanned aerial vehicle in the plant area to be operated, firstly acquiring a ridge line for dividing two adjacent rows of plants.
The ridge lines are 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 lines included in the plant area to be worked may be determined by a deep learning or machine learning method. For example, two adjacent rows of plants can be obtained from 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 plant points included in the two adjacent rows of plants, and a ridge line is obtained by connecting the plurality of reference points. The plant point may be a tree core point corresponding to a plant in the plant area.
In another specific embodiment, at least one ridge line constructed by a user for a plant area to be worked can be obtained. After a map corresponding to the plant area is obtained by a user, a plurality of reference points can be selected between two adjacent rows of plants, and at least one ridge line is obtained by connecting the plurality of reference points.
And 120, dividing a plurality of plant points included in the plant area into a plurality of plant point sets by adopting the ridge line in the plant area.
In the step, after at least one ridge line included in the plant area to be operated is obtained, plants on the left side and the right side 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 each two adjacent rows of plants in the plant area to be operated, then multiple plant points included in the plants adjacent to the left of each ridge line may be divided into one set, and multiple plant points included in the plants adjacent to the right of each ridge line may be divided into one set.
And 130, 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 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 each single-row operation route is connected to form an area operation route matching with the plant area.
In a specific embodiment, since each plant point is generally planted in a plant area to be operated according to a certain planting direction, a plurality of plant points included in each plant point set can be connected according to the planting direction, so as to obtain a single-row operation route corresponding to each plant point set.
In the embodiment, each plant point in the plant area is connected to obtain an area operation route, so that the unmanned aerial vehicle can accurately spray pesticides on plants, and medicine waste is avoided; secondly, generating a single-row operation route corresponding to each plant point set, and forming a regional operation route according to each single-row operation route, so that on one hand, the calculated amount of the operation route can be reduced, and the planning efficiency of the route can be improved; on the other hand, for plants with complex terrains and scattered distribution, the problem that the planned route is disordered can be avoided, the operation route is ensured to be smoother, and the effectiveness of the operation route can be improved.
According to the technical scheme, the ridge lines included in the plant area to be operated are obtained, then the ridge lines are adopted to divide a plurality of plant points included in the plant area into a plurality of plant point sets, finally, single-row operation routes corresponding to each plant point set are generated, and technical means of the regional operation routes are formed according to the single-row operation routes, so that planning efficiency of the operation routes can be improved, effectiveness of the operation routes is guaranteed, and energy consumption waste is avoided.
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 ridge lines in the plant area includes: and acquiring a unique ridge line in the plant area, and dividing each plant point at 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 single-row operation routes respectively corresponding to each plant point set, and finally connecting each single-row operation route to form the area operation route.
Example two
The present embodiment is a further refinement of the first embodiment, and the same or corresponding terms as those of the first embodiment are explained, and the description of the present embodiment is omitted. Fig. 2a is a flowchart of a route planning method in an operation 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 foregoing embodiment, and in this embodiment, as shown in fig. 2a, the method provided by the 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 of the embodiment of the present invention, obtaining at least one ridge line included in a plant area to be worked includes: transmitting 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 man-machine 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 a machine learning method. After the plant map and at least one plant point included in the plant map are sent to a man-machine interaction interface for display, a user can select a plurality of reference points between two adjacent rows of plants in the man-machine interaction interface, then the plurality of 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 lines are 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 one implementation manner of this embodiment, after receiving at least one ridge line input by a user through a man-machine 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, and when the ridge line determined by the user is detected to be invalid, the user can be reminded of modifying the ridge line through the man-machine interaction interface.
Fig. 2b is a schematic diagram of a plant area to be operated in the present embodiment, as shown in fig. 2b, it is assumed that the plant area includes 23 plant points in total, where plant points 0 to 7 are plants in the first row, plant points 8 to 15 are plants in the second row, and plant points 16 to 22 are plants in the third row. Fig. 2c is a schematic diagram of a ridge line in a plant area to be worked in the present 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 and a ridge line 202 between the second row of plants and a third row of plants in the plant area. Since some plant points (plant point 12, plant point 13, and plant point 14 in fig. 2 c) in a row of plants on the right side of the ridge line 201 fall to 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 regarded as an ineffective ridge line.
In one implementation manner of the embodiment, after receiving at least one ridge line input by a user through a man-machine interaction interface, a plant map and each ridge line input by the user can be displayed to the user through the man-machine interaction interface, and when the user finds that the input ridge line is incomplete or the input ridge line is invalid, the ridge line can be modified through the man-machine interaction interface.
Fig. 2d is a schematic diagram of a ridge line in another plant area to be worked in this embodiment, as shown in fig. 2d, the 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 from the second row of plants.
In the embodiment, the plant map and the plant points in the plant area are displayed to the user, and the ridge line input by the user is received, so that the ridge line can be ensured to effectively divide two adjacent rows of plants, the ridge line is convenient to be adopted subsequently, and a plurality of plant points in the plant area are divided.
In another implementation manner of the embodiment of the present invention, obtaining at least one ridge line included in a plant area to be worked includes: obtaining an area map corresponding to the plant area, and marking a plurality of plant points in the area map in advance; inputting the regional map into a pre-trained ridge line identification model, and acquiring at least one ridge line output by the ridge line identification model aiming at the regional map.
The ridge line identification 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 the ridge line included in the plant area to be operated is obtained, the area maps can be divided into a training data set and a test data set, and then the training data set and the test data set are used for carrying out iterative training on the neural network model to obtain the ridge line identification model. After the ridge line identification model is established, the regional map corresponding to the plant region to be operated is identified through the ridge line identification model, so that at least one ridge line included in the regional map can be obtained, automation of the ridge line acquisition process can be realized, and planning efficiency of an operation route is improved.
Step 220, sorting the ridge lines along a set spatial arrangement direction according to the relative position relation between at least two ridge lines.
In this step, the relative positional relationship is such that one ridge line is located with respect to the other ridge line, the located positions including left and right. In a specific embodiment, the midpoint position of each ridge line can be obtained, the relative position relationship between the ridge lines is obtained according to the midpoint position of each ridge line, and the ridge lines are ordered along the set spatial arrangement direction according to the relative position relationship between the ridge lines. Wherein the ridge lines may be ordered in a left-to-right or right-to-left order.
And 230, 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 the sorting result, and dividing each plant point positioned between every two adjacent ridge lines into a second plant point set.
In the step, the target side of the ridge line at the limit position is the side of the ridge line at the limit position, which is not adjacent to other ridge lines in the sequencing result. The ridge lines at the limit positions are leftmost and rightmost ridge lines in all the ridge lines. As shown in fig. 2d, assuming that the ridge lines are ordered in the left-to-right order, the ridge lines at the limit position include the ridge lines 202 and 203, and when the ridge line at the limit position is the ridge line 202, since other ridge lines are located at the left side of the ridge line 202 in the ordering result, 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 area and the ridge line in fig. 2d as an example, each plant point (from 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, each plant point (from plant point 8 to plant point 15) between adjacent ridge lines 203 and 202 may be divided into a second plant point set, and each plant point (from plant point 16 to plant point 22) on the right side of the ridge line 202 may be divided into a first plant point set.
In one implementation manner of the embodiment of the present invention, according to the sorting result, dividing each plant point located on the target side of the ridge line at the limit 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, including:
and 231, sequentially acquiring a ridge line as a 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 positioned 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 sorting result, and dividing each plant point positioned in the adjacent search area into a second plant point set.
In this embodiment, it is assumed that the ridge lines are ordered in the left-to-right order, 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 of the leftmost ridge line, each plant point located in the limit search area is divided into a first plant point set, and then each plant point between the ridge line and the adjacent next ridge line in the ordering result is 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, as shown in fig. 2e, assuming that after each ridge line is ordered in the order from left to right, the current ridge line is the first ridge line, that is, the ridge line 203 in fig. 2e, each plant point in the plant area 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 (that is, the ridge line 202) in the ordering 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 adjacent search area is constructed between adjacent ridge lines, and each plant point located in the adjacent search area is divided into a second plant point set. The method comprises the steps of constructing an adjacent search area according to a current ridge line and a next ridge line adjacent to the current ridge line in a sequencing result, and comprises the following steps: respectively identifying two edge points in the current ridge line and the subsequent ridge line; and determining a closed polygon formed by correspondingly connecting edge points in the current ridge line and the later 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, 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.
Step 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 search area into a first plant point set.
In this embodiment, it is assumed that the ridge lines are ordered in the order 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 ordered in the left-to-right order, the current ridge line is the last ridge line, that is, the ridge line 202 in fig. 2e, each plant point in the plant area located on the right of the ridge line 202 is 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 a next ridge line adjacent to the current ridge line in the sorting result, and dividing each plant point positioned in the adjacent search area into a second plant point set.
After the current ridge line is processed, returning to the step 231, and sequentially obtaining one ridge line as the current ridge line according to the sorting result until the processing of all the ridge lines is completed.
Therefore, by sequencing the ridge lines along the set spatial arrangement direction and automatically dividing the plant points positioned on the target side of the ridge line at the limit position into a first plant point set and dividing the plant points positioned between every two adjacent ridge lines into a second plant point set according to the sequencing result, reasonable division of the plant points can be realized, and omission of plant point division is avoided.
It should be emphasized again that the process from step 231 to step 234 is a specific process executed by a computer program that performs a plurality of cycles, and finally, automatically divides all plant points into a first set of plant points or a second set of plant points. The process comprises the following steps: and 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 the sorting result, and dividing each plant point positioned between every two adjacent ridge lines into a second plant point set.
Therefore, different specific implementation rules are set in advance according to the sorting positions (limit positions or non-limit positions) of each ridge line in all the ridge lines to obtain a first plant point set and/or a second plant point set corresponding to the ridge lines at different positions, so that all the plant points are automatically divided into the first plant point set or the second plant point set based on the specific implementation rules.
Of course, those skilled in the art will appreciate that other rule implementations may be defined: the operation of dividing each plant point located on the target side of the ridge line at the limit position into the first plant point set and dividing each plant point located between every two adjacent ridge lines into the second plant point set according to the sorting result is not limited in this 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 this embodiment, after the regional operation route matched with the plant region is formed, the regional operation route may be displayed to the user through the man-machine interaction interface, and when the user finds that the regional operation route is inaccurate, the user may modify the input ridge route again through the man-machine interaction interface, so as to reform the regional operation route according to the ridge route modified by the user.
According to the technical scheme, the ridge lines included in the plant area to be operated are obtained, the ridge lines are ordered along the set space arrangement direction according to the relative position relation between at least two ridge lines, plant points located on the target side of the ridge line at the limit position are divided into the first plant point set according to the ordering result, plant points located between every two adjacent ridge lines are divided into the second plant point set, then single-row operation lines corresponding to each plant point set are generated, and according to the single-row operation lines, the planning efficiency of the operation lines is improved, the effectiveness of the operation lines is guaranteed, and energy consumption waste is avoided.
Example III
The present embodiment is further detailed in the second embodiment, and the same or corresponding terms as those of the second embodiment are explained in the second embodiment, which is not repeated. Fig. 3a is a flowchart of a route planning method in an operation 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 foregoing embodiments, and in this embodiment, as shown in fig. 3a, the method provided by the embodiment of the present invention may further include:
step 310, 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.
Step 320, sorting the ridge lines along a set spatial arrangement direction according to the relative position relationship between at least two ridge lines.
In one implementation manner of the embodiment of the present invention, according to a relative positional relationship between at least two ridge lines, sorting the ridge lines along a set spatial arrangement direction includes: calculating the vector product between any two ridge lines; and sequencing the ridge lines along the set spatial arrangement direction according to the vector product calculation result.
In a specific embodiment, two target points can be respectively acquired on two ridge lines processed currently, target vectors corresponding to each ridge line are constructed along the positive direction of a space two-dimensional coordinate system according to the target points, and then products of the target vectors are calculated.
After the vector product between any two ridge lines is calculated, the relative position relationship between any two ridge lines can be obtained according to the calculation result of each vector product, and each ridge line is ordered along the set space arrangement direction according to the relative position relationship between each ridge line.
Therefore, by calculating the vector product between every two ridge lines and sequencing each ridge line along the set space arrangement direction according to the vector product calculation result, the accuracy of the sequencing result of each ridge line can be improved.
In one implementation of this embodiment, calculating the vector 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 segments 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 each local vector product.
In this embodiment, if the ridge line is not a straight line, in order to improve accuracy of the vector product calculation result, an embodiment of dividing the ridge line into a plurality of locally fitted straight line segments is provided. 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 equal local fitting straight line segments according to preset lengths, respectively calculating local vector products between the corresponding local fitting straight line segments in the first ridge line and the second ridge line, and superposing the local vector products to obtain the vector products between the first ridge line and the second ridge line.
In this embodiment, according to a vector product calculation result, sorting the ridge lines along a set spatial arrangement direction includes: according to the vector product calculation result, acquiring a target ridge line positioned at the limit position in the space arrangement direction from each ridge line to be sequenced; and after the target ridge line is added to the sequencing result, returning to execute the calculation result according to the vector product, and acquiring the target ridge line positioned at the limit position in the space arrangement direction from each ridge line to be sequenced until the processing of all the ridge lines is completed.
After the vector product between any two ridge lines is calculated, the relative position relationship between any two ridge lines can be obtained according to the calculation result of each vector product, and the target ridge line positioned at the leftmost side or the rightmost side is obtained from each ridge line to be sequenced according to the relative position relationship between each ridge line. If the ridge lines are required to be sequenced according to the sequence from left to right, adding the target ridge line positioned at the leftmost side to a sequencing result, removing the target ridge line from the ridge lines to be sequenced, acquiring the target ridge line positioned at the leftmost side from the rest ridge lines to be sequenced again according to the relative position relation among the rest ridge lines to be sequenced, and adding the target ridge line to the sequencing result until the processing of all the ridge lines is completed.
And 330, 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 the sorting result, and dividing each plant point positioned between every two adjacent ridge lines into a second plant point set.
Step 340, for each set of plant points, sorting the plant points included in each set of plant points according to the distance from the set of plant points to the target fixed point in the same ridge line.
In this embodiment, for each set of plant points, the distance between each plant point in the set of plant points and the target fixed point in the same ridge line may be calculated, and then the plant points included in the set of plant points are ordered in order 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 ordered in the order 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 sequencing result to form a single-row operation route respectively corresponding to each plant point set.
In this step, taking the plant area and the ridge line in fig. 2e as an example, after sorting the plant points included in each plant point set, each plant point in each plant point set is connected in series according to the sorting result to form a single-row operation route corresponding to each plant point set, as shown in fig. 3 b.
Step 360, forming an area operation route matched with the plant area according to each single-row operation route.
In one implementation of the embodiment of the present invention, forming a regional operation route matching the plant region according to each of the single-row operation routes includes: acquiring an operation starting point corresponding to the plant area; sequencing each single-row operation route according to the sequence from the near to the far of each single-row operation route from the operation starting point; and sequentially connecting the operation starting point and the starting and ending points of the single-row operation airlines according to the sequencing result to form an area operation airline matched with the plant area.
In this embodiment, the operation starting point corresponding to the plant area may be an route starting point of the route to be planned, the single-row operation routes are sequenced according to the sequence from the near to the 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 in the sequencing result (the starting point is the edge point closest to the operation starting point in the first single-row operation route), then the end point of the first single-row operation route (the end point is another 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 in the sequencing result (the starting point is the edge point closest to the end point in the next single-row operation route), finally the rest single-row operation routes are connected in the same manner, and the connection between the operation starting point and the first single-row operation routes, and the connection between the single-row operation routes are used as the area operation routes matched with the plant area.
The shortest distance between the edge point and the operation starting point on each single-row operation route can be used as the distance between each single-row operation route and the operation starting point. For example, assuming that the operation starting point is a, a single-row operation route includes two edge points, namely an edge point B and an edge point C, the distance between the operation starting point a and the edge point B may be calculated first, then the distance between the operation 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 operation route and the operation starting point.
Fig. 3c is a schematic diagram of a regional operation route in the present embodiment, as shown in fig. 3c, after three single-row operation routes are formed, distances between the operation start point 301 and each single-row operation route are calculated, after each single-row operation route is ordered according to the order from the near to the far, the first single-row operation route in the ordering result includes a plant point 0 to a plant point 7, the second single-row operation route in the ordering result includes a plant point 8 to a plant point 15, and the third single-row operation route in the ordering result includes a plant point 16 to a plant point 22.
By calculating the distance between the operation start point 301 and the edge points (plant point 0 and plant point 7) included in the first single-row operation route, it is possible to determine that the start point of the first single-row operation route is plant point 7 and the end point is plant point 0, and then connect the operation start point 301 with plant point 7; then calculating the distance between the plant point 0 and the edge points (plant point 8 and 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, 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 (plant point 16 and 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 is the plant point 16, and the plant point 15 is connected with the plant point 22.
As shown in fig. 3c, the line between the line starting point 301 and the plant point 7, the single-row operation line between the plant point 7 and the plant point 0, the line between the plant point 0 and the plant point 8, the single-row operation line between the plant point 8 and the plant point 15, the line between the plant point 15 and the plant point 22, and the single-row operation line between the plant point 22 and the plant point 16 jointly form an area operation line matched with the plant area.
In this embodiment, by calculating the distance between the operation starting point and the edge point of each single-row operation route, determining the starting point of the first single-row operation route to be cruised, and determining the starting point of the next single-row operation route to be cruised according to the distance between the edge point of the first single-row operation route to be cruised and the edge point of the next single-row operation route, the planned operation route distance can be ensured to be shorter, and resource consumption caused when the unmanned aerial vehicle sails according to the operation route is further reduced.
According to the technical scheme, the ridge lines included in the plant area to be operated are obtained, the ridge lines are ordered along the set space arrangement direction according to the relative position relation between at least two ridge lines, plant points located on the target side of the ridge line at the limit position are divided into the first plant point set according to the ordering result, plant points located between every two adjacent ridge lines are divided into the second plant point set, then each plant point set is ordered according to the distance from the plant point set to the target fixed point in the same ridge line, plant points in each plant point set are connected in series according to the ordering result, single-row operation routes corresponding to each plant point set are formed, and finally the planning efficiency of the operation route can be improved, the effectiveness of the operation route is guaranteed, and energy consumption is avoided.
Example IV
Fig. 4 is a block diagram of an apparatus for planning a route in an operation area according to a fourth embodiment of the present invention, where the apparatus includes: a ridge line acquisition module 410, a plant point dividing module 420 and a working route generation module 430.
The ridge line acquisition module 410 is configured to acquire 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 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;
the operation route generation 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.
According to the technical scheme, the ridge lines included in the plant area to be operated are obtained, then the ridge lines are adopted to divide a plurality of plant points included in the plant area into a plurality of plant point sets, finally, single-row operation routes corresponding to each plant point set are generated, and technical means of the regional operation routes are formed according to the single-row operation routes, so that planning efficiency of the operation routes can be improved, effectiveness of the operation routes is guaranteed, and energy consumption waste is avoided.
Based on the above embodiments, the ridge line acquisition 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 the 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 man-machine 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;
the regional map input unit is used for inputting the regional map into a pre-trained ridge line identification model and obtaining at least one ridge line output by the ridge line identification model aiming at the regional map.
The plant point dividing module 420 may include:
the ridge line ordering unit is used for ordering each ridge line along a set space arrangement direction according to the relative position relation 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 limit position into a first plant point set and dividing each plant point positioned between every two adjacent ridge lines into a second plant point set according to the sorting result;
The target side of the ridge line at the limit position is the side of the ridge line at the limit position, which is not adjacent to other ridge lines in the sequencing result;
the current ridge line acquisition unit is used for sequentially acquiring one ridge line as a current ridge line according to the sequencing result;
the first ridge line processing unit is used for acquiring a limit searching 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 positioned in the limit searching 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 sorting result, and dividing each plant point positioned in the adjacent search area into a second plant point set;
the last-position ridge line processing unit is used for acquiring a limit searching area corresponding to the target side of the current ridge line if the current ridge line is the last-position ridge line, and dividing each plant point positioned in the limit searching 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 sorting result if the current ridge line is not the first ridge line or the last ridge line, and dividing each plant point positioned in the adjacent search area into a second plant point set;
The whole ridge line processing unit is used for returning and executing 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;
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 space arrangement direction according to the vector product calculation result;
the first ridge line acquisition unit is used for acquiring 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 segments 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;
the target ridge line acquisition unit is used for acquiring target ridge lines positioned at the limit position in the space arrangement direction from each ridge line to be sequenced according to the vector product calculation result;
The target ridge line adding unit is used for adding the target ridge lines to the sorting result, and then returning to execute the calculation result according to the vector product, and acquiring target ridge lines positioned at the limit positions in the spatial arrangement direction from each ridge line to be sorted until the processing of all the ridge lines is completed;
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;
the unique ridge line acquisition unit is used for acquiring unique ridge lines in the plant area and dividing each plant point at two sides of the unique ridge line into two plant point sets respectively.
The operation route generation module 430 may include:
the plant point ordering unit is used for ordering 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;
the plant point serial unit is used for connecting each plant point in each plant point set in series according to the sequencing result to form a single-row operation route respectively 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 each single-row operation route according to the sequence from the near to the far of each single-row operation route from the operation starting point;
and the route connection 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 the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention, where, as shown in fig. 5, the computer device includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the computer device may be one or more, one processor 510 being taken as an example in fig. 5; the processor 510, memory 520, input means 530, and output means 540 in the computer device may be connected by a bus or other means, for example by a bus connection in fig. 5. The memory 520 serves as a computer readable storage medium, and may be used to store software programs, computer executable programs, and modules, such as program instructions/modules corresponding to an airline planning method in an operation area (e.g., the ridge line acquisition module 410, the plant point dividing module 420, and the operation airline generation module 430 in an airline planning apparatus in an operation area) in any embodiment of the present invention. Processor 510 executes various functional applications and data processing of the computer device by running software programs, instructions and modules stored in memory 520, i.e., to implement a method of planning an air route within a work area as described above. That is, the program, when executed by the processor, implements:
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;
dividing a plurality of plant points included in the plant area into a plurality of plant point sets by adopting the ridge line in the plant area;
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.
Memory 520 may include primarily a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for functionality; the storage data area may store data created according to the use of the terminal, etc. In addition, 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 the computer device via 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 means 530 may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the computer device, and may include a keyboard, a mouse, and the like. The output 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 having a computer program stored thereon, where the computer program when executed by a processor implements the method according to any embodiment of the present invention. Of course, a computer-readable storage medium according to an embodiment of the present invention may perform the related operations in a method for planning a route in a work area according to any embodiment of the present invention. That is, the program, when executed by the processor, implements:
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;
dividing a plurality of plant points included in the plant area into a plurality of plant point sets by adopting the ridge line in the plant area;
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.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.
It should be noted that, in the above embodiment of the route planning device in an operation area, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (15)
1. A method of route planning within a work area, comprising:
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;
Sequencing the ridge lines in the plant area along a set space arrangement direction according to the relative position relationship between at least two ridge lines, and dividing a plurality of plant points included in the plant area into a plurality of plant point sets according to sequencing results;
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.
2. The method of claim 1, wherein obtaining at least one ridge line included in the plant area to be worked comprises:
transmitting 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 man-machine interaction interface.
3. The method of claim 1, wherein obtaining at least one ridge line included in the plant area to be worked comprises:
obtaining an area map corresponding to the plant area, and marking a plurality of plant points in the area map in advance;
Inputting the regional map into a pre-trained ridge line identification model, and acquiring at least one ridge line output by the ridge line identification model aiming at the regional map.
4. The method of claim 1, wherein using the ridge lines in the plant area to sort the ridge lines along a set spatial arrangement direction according to a relative positional relationship between at least two ridge lines, and dividing a plurality of plant points included in the plant area into a plurality of plant point sets according to a sorting result comprises:
dividing each plant point positioned on the target side of each ridge line at the limit position into a first plant point set according to the sorting result, and dividing each plant point positioned between every two adjacent ridge lines into a second plant point set;
the target side of the ridge line at the limit position is the 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 each plant point located on the target side of the ridge line at the extreme position into a first set of plant points and dividing each plant point located between every two adjacent ridge lines into a second set of plant points according to the sorting result 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 searching area corresponding to the target side of the current ridge line, and dividing each plant point positioned in the limit searching 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 sorting result, and dividing each plant point positioned in the adjacent search area into a second plant point set;
if the current ridge line is a last ridge line, acquiring a limit searching area corresponding to the target side of the current ridge line, and dividing each plant point in the limit searching 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 a next ridge line adjacent to the current ridge line in the sorting result, and dividing each plant point positioned 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 ordering each of 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 the set spatial arrangement direction according to the vector product calculation result.
7. The method of claim 6, wherein calculating a vector 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 segments 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 each local vector product.
8. The method of claim 6, wherein ordering each of the ridge lines along a set spatial arrangement direction based on a vector product calculation result, comprising:
according to the vector product calculation result, acquiring a target ridge line positioned at the limit position in the space arrangement direction from each ridge line to be sequenced;
And after the target ridge line is added to the sequencing result, returning to execute the calculation result according to the vector product, and acquiring the target ridge line positioned at the limit position in the space arrangement direction from each ridge line to be sequenced until the processing of all the ridge lines is completed.
9. The method of claim 5, wherein constructing an adjacent search area from the current ridge line and a next ridge line adjacent to the current ridge line in the ranking result comprises:
respectively identifying two edge points in the current ridge line and the later ridge line;
and determining the closed polygon formed by correspondingly connecting the edge points in the current ridge line and the later ridge line as the adjacent search area.
10. The method of claim 1, wherein dividing the plurality of plant points included in the plant area into a plurality of sets of plant points using the ridge line in the plant area comprises:
and acquiring a unique ridge line in the plant area, and dividing each plant point at 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 the operating pattern corresponding to each set of plant points, respectively, comprises:
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;
and connecting the plant points in each plant point set in series according to the sequencing result to form a single-row operation route respectively corresponding to each plant point set.
12. The method of any of claims 1-10, wherein forming a regional working pattern matching the plant region based on each of the single row working patterns comprises:
acquiring an operation starting point corresponding to the plant area;
sequencing each single-row operation route according to the sequence that each single-row operation route is from near to far from the operation starting point;
and sequentially connecting the operation starting point and the starting and ending points of the single-row operation airlines according to the sequencing result to form an area operation airline matched with the plant area.
13. An apparatus for planning a route within a work area, comprising:
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 the plant area into a plurality of plant point sets according to a sorting result by adopting the ridge lines in the plant area and sorting the ridge lines along a set space arrangement direction according to the relative position relation between at least two ridge lines;
the operation route generation module is used for generating single-row operation routes corresponding to each plant point set respectively, and forming regional operation routes matched with the plant regions according to the single-row operation routes.
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, causes the one or more processors to implement the method of route planning within a work area of any of claims 1-12.
15. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a route planning method in a work area according to any of claims 1-12.
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| CN111752300A (en) * | 2019-12-30 | 2020-10-09 | 广州极飞科技有限公司 | Unmanned aerial vehicle route planning method, device and system and computer readable storage medium |
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