CN113495576A - Autonomous flight agricultural unmanned aerial vehicle path planning method and system - Google Patents
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Abstract
The invention discloses a method and a system for planning paths of an autonomous flight agricultural unmanned aerial vehicle, wherein the method comprises the following steps: s1, identifying the polygon vertexes of the operation area and generating XY-plane coordinates for the unmanned aerial vehicle operation area by using the online map; s2, judging the type of each edge along the polygon working area anticlockwise, and marking the type as a Back edge, a Front edge or a Skip edge; s3, using the principle of first-in last-out of a stack structure, reading edges along a polygonal operation area anticlockwise, if the currently read edges and the edges at the top of the stack belong to Back and Front respectively, dividing the two edges into a common x-axis coordinate part by a Y-axis parallel line dividing line to generate a sub-area, and pressing the divided residual edges into the stack; s4, performing operation flight on the currently divided sub-area; and S5, looping the steps S3-S4 until the work area is divided into a plurality of sub-areas and all the work flights are carried out. The method can realize the automation of autonomous flight planning for any polygonal operation area.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a path planning method and system for an agricultural unmanned aerial vehicle capable of autonomous flight.
Background
The current path planning of the agricultural unmanned aerial vehicle is finished manually or semi-automatically; this is a cumbersome process requiring lengthy and tortuous training of the ground flyer, and therefore requires path planning automation. However, automation has technical obstacles, particularly irregular operation farm land shapes caused by different terrains, ground infrastructure and crop growth changes; under irregular shapes of the working field, automated algorithms based on computer vision lack robustness.
In the current international commonly used open hardware flight controller Pixhawk4 series, an open software flight controller PX4 is operated on a NuttX operating system, and the flight path planning process is that PX4 sends information of a required path to a Path Planning Module (PPM) and receives a path point stream from the PPM; PX4 uses TRAJECTORY _ REPRESETION _ WAYPOINTS message to send the required path information; the PPM sends back the set point of the path by using a waypoint interface or a Bezier track interface; the waypoint specifies the next setpoint destination and the Bezier trajectory describes the exact fuselage movement, i.e., a setpoint that moves over time.
There is very big functional gap between the automatic path planning that current PPM and agricultural unmanned aerial vehicle need: agricultural drone path planning should not generate the trajectory waypoints of the path along the operational farm boundary, but should automatically generate the operational flight path within the farm boundary.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art, and provides a method and a system for planning the path of an autonomous flight agricultural unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
the path planning method for the autonomous flight agricultural unmanned aerial vehicle comprises the following steps:
s1, identifying the polygon vertexes of the operation area and generating XY-plane coordinates for the unmanned aerial vehicle operation area by using the online map;
s2, judging the type of each edge along the polygon working area anticlockwise, and marking the type as a Back edge, a Front edge or a Skip edge;
s3, using the principle of first-in last-out of a stack structure, reading edges along a polygonal operation area anticlockwise, if the currently read edges and the edges at the top of the stack belong to Back and Front respectively, dividing the two edges into a common x-axis coordinate part by a Y-axis parallel line dividing line to generate a sub-area, and pressing the divided residual edges into the stack;
s4, performing operation flight on the currently divided sub-area;
s5, judging whether the stack is empty or not, if so, ending the operation flight, and dividing the operation area into a plurality of sub-areas and completely executing the operation flight; if not, go to step S3 to continue to execute step S3 and the following steps.
Further, in step S2, it is determined that the type of each edge of the work area is specifically:
for vertex PiAnd Pi+1The formed edge is judged as follows:
if xi<xi+1If yes, the edge is Back edge;
otherwise, if xi>xi+1And then is Front edge;
otherwise, xi＝xi+1Skip edge, omit;
wherein i is 0, …, n-1, xiIs a vertex PiX-axis coordinate of (2), xi+1Is a vertex Pi+1X-axis coordinates of (a);
and circularly judging the edges formed between the vertexes, and judging the types of the edges between every two vertexes of the operation area.
Further, step S3 is specifically:
s31, setting an empty Stack { };
s32, taking the edge from the working area counterclockwise (P)i，Pi+1)；
S33, judging whether a Back edge or a Front edge of different types from the current edge exists on the stack top according to the judgment result of the edge types in the step S2;
if a Back side or a Front side different from the current side exists at the top of the stack, respectively making a plurality of Y-axis parallel lines passing through the vertexes of the two sides in the operation area, wherein the Y-axis parallel lines and the two sides form a trapezoidal area or a triangular area, namely a sub-area; pressing the rest part of the edge divided by the Y-axis dividing line into a stack;
if there is no Back edge or Front edge of a different type from the current edge at the top of the stack, the process goes to step S32.
Further, in step S4, the specifically performing the operation flight on the currently divided sub-area includes:
suppose that the vertex of the partitioned sub-region is { P }start,P1,P2,Pend}；
Is provided (P)start,P1) Is a Back edge;
is provided (P)2,Pend) Is a Front edge;
setting a flight distance Desired _ Gap;
calculating the circulating flight times, wherein the formula is as follows:
|xPstart-xP1|/Desired_Gap；
wherein x isPstartIs a vertex PstartX-axis coordinate of (2), xP1Is a vertex P1X-axis coordinates of (a);
the method comprises the following steps of circularly operating and flying in a sub-area, specifically:
executing rotary motion according to the set flying distance Desired _ Gap;
performing a tilting motion from Back side to Front side or from Front side to Back side;
depending on the sensing height, a vertical movement is performed.
The invention also provides a path planning system of the autonomous flight agricultural unmanned aerial vehicle, and the path planning method of the autonomous flight agricultural unmanned aerial vehicle, provided by the invention, comprises a basic flight control module and a main flight control module;
the basic flight control module is used for controlling the unmanned aerial vehicle to carry out division operation flight;
the main flight control module is used for identifying the vertexes of the operation areas, generating coordinates, judging the types of edges formed between the vertexes and dividing the operation areas;
the autonomous flight agricultural unmanned aerial vehicle path planning system has the following working procedures:
the main flight control module adopts an online map to identify the polygon vertex of the operation area and generate XY-plane coordinates according to the operation area of the unmanned aerial vehicle; judging the type of each edge along the polygon operation area anticlockwise and marking the type as a Back edge, a Front edge or a Skip edge;
the main flight control module reads edges along a polygonal operation area anticlockwise by applying a principle that a stack structure enters first and then exits, if the currently read edges and the edge of the top of the stack belong to Back and Front respectively, a common x-axis coordinate part of the two edges is divided by a Y-axis parallel line dividing line to generate a subregion, and the divided rest edges are pressed into the stack;
the basic flight control module performs operation flight on the currently divided sub-regions;
the main flight control module judges whether the stack is empty or not, if the stack is empty, the operation flight is finished, and the operation area is divided into a plurality of sub-areas and all the sub-areas execute the operation flight; and if not, the main flight control module continuously reads the next edge anticlockwise and judges the types of the read edge and the edge at the top of the stack.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. for agricultural unmanned aerial vehicle path planning, an existing path planning module PPM only allows a mesh flight mode to be established in a convex polygon operation area; because most operation farmland boundaries are irregular polygons, the PPMs cannot realize the automation of path planning, and the method can realize the automation of autonomous flight planning on any polygonal operation area.
2. The existing PPM is specially designed for the flight controllers of individual merchants, and lacks universality and expandability; the system can be used for an open hardware Pixhawk4 series flight controller and the like, and realizes universal multi-rotor agricultural unmanned aerial vehicle attitude control in any boundary-shaped operation farmland.
3. The existing PPM is specially designed for individual application software only and lacks universality and application scene variability; the system can utilize a frame of unmanned aerial vehicle path planning provided by open software QGroundcontrol and the like to be connected with a sensor compatible with an open hardware flight controller for use, thereby further causing irregular operation farmlands for different terrains, ground infrastructure and crop growth changes and realizing the stability of attitude control under the scene change of fusion computer vision.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic view of a working farm land in the embodiment;
FIG. 3 shows an embodiment of read edges (P)2,P3) Then carrying out segmentation;
FIG. 4 shows an example read edge (P)4,P5) Then carrying out segmentation;
FIG. 5 shows an example read edge (P)5’,P5) Then carrying out segmentation;
FIG. 6 shows an example read edge (P)5,P0) Then carrying out segmentation;
FIG. 7 shows an example read edge (P)0’,P0) And then the division is schematically shown.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1, the present invention comprises the following steps:
s1, identifying the polygon vertex of the operation area in the online map and generating XY-plane coordinates for the operation area of the unmanned aerial vehicle; in this embodiment, as shown in fig. 2, for a piece of working farmland identified in an online map, the present embodiment will implement automated autonomous flight of agricultural tasks such as spraying and seeding based on such input of working farmland polygon vertices and multi-rotor attitude control.
S2, judging the type of each edge of the operation area anticlockwise; the method specifically comprises the following steps:
for vertex PiAnd Pi+1The formed edge, i, is 0, …,5, and is determined as follows:
if xi<xi+1If yes, the edge is Back edge;
otherwise, if xi>xi+1And then is Front edge;
otherwise, xi＝xi+1Skip edge, omit;
wherein i is 0, …,5, xiIs a vertex PiX-axis coordinate of (2), xi+1Is a vertex Pi+1X-axis coordinates of (a);
and circularly judging the edges formed between the vertexes, and judging the types of the edges between every two vertexes of the operation area.
In the present embodiment, the edge (P) is known according to the above-mentioned judgment logic0,P1) Is Back edge, edge (P)1,P2) Is Back edge, edge (P)2,P3) Is Front edge, edge (P)3,P4) Is Back edge, edge (P)4,P5) Is Front edge, edge (P)5,P0) Is the Front edge.
S3, using the principle of first-in last-out of a stack structure, reading edges along a polygonal operation area anticlockwise, if the currently read edges and the edges at the top of the stack belong to Back and Front respectively, dividing the two edges into a common x-axis coordinate part by a Y-axis parallel line dividing line to generate a sub-area, and pressing the divided residual edges into the stack; the method specifically comprises the following steps:
s31, setting an empty Stack { };
s32, taking the edge from the working area counterclockwise (P)i，Pi+1)；
S33, judging whether the stack top has different types of edges according to the judgment result of the edge types in the step S2;
if the stack top has different types of sides, a plurality of Y-axis parallel lines passing through the top points of the two sides are respectively made in the operation area, and the Y-axis parallel lines and the two sides form a trapezoidal area or a triangular area, namely a subarea; pressing the rest part of the edge divided by the Y-axis dividing line into a stack;
if there is no edge of a different type at the top of the stack, then the process jumps to step S32.
S4, performing operation flight on the currently divided sub-area; in this embodiment, the following are specifically mentioned:
suppose that the vertex of the partitioned sub-region is { P }start,P1,P2,Pend}；
Is provided (P)start,P1) Is a Back edge;
is provided (P)2,Pend) Is a Front edge;
setting a flight distance Desired _ Gap;
calculating the circulating flight times, wherein the formula is as follows:
|xPstart-xP1|/Desired_Gap
wherein x isPstartIs a vertex PstartX-axis coordinate of (2), xP1Is a vertex P1X-axis coordinates of (a);
circularly operating and flying in the sub-area, and executing rotary motion according to the set flying distance Desired _ Gap;
performing a tilting motion from Back side to Front side or from Front side to Back side;
depending on the sensing height, a vertical movement is performed.
S5, judging whether the stack is empty or not, if so, ending the operation flight, and dividing the operation area into a plurality of sub-areas and completely executing the operation flight; if not, go to step S3 to continue to execute step S3 and the following steps.
In this embodiment, for a farm land as shown in FIG. 1, the edge is read first counterclockwise (P)0,P1) Back side, no Front side in the stack, side (P)0,P1) Pressing into a stack;
read edge (P)1,P2) If the stack is a Back edge and the top of the stack has no Front edge, pressing the stack;
read edge (P)2,P3) Front edge, stack top edge (P)1,P2) Then, making a Y-axis parallel line as shown in FIG. 3; wherein, passing through point P3Parallel to the Y axis of (P)1,P2) Intersect at P2’(ii) a Y-axis parallel line segment (P)3，P2’) And edge (P)2’，P2) And an edge (P)2,P3) Forming a triangular area, and performing division operation flying on the triangular subareas; the remaining partial side divided by the Y-axis dividing line (P1, P)2’) Pressing into a stack;
read edge (P)3,P4) Pressing the stack with the Back side and the top of the stack without the Front side;
read edge (P)4,P5) Front edge, stack top edge (P)3,P4) Then, make the Y-axis parallel line, as shown in FIG. 4, where the point P is passed3Parallel to the Y axis of (P)3,P4) Intersect at P5’(ii) a Y-axis parallel line segment (P)3，P5’) And edge (P)5’，P4) And an edge (P)3,P4) Forming a triangular area, and performing division operation flying on the triangular subareas; the remaining part side (P) divided by the Y-axis dividing line5’，P5) Pressing into a stack;
read edge (P)5’，P5) Front side, stack top (P)1，P2’) Then, make the Y-axis parallel line, as shown in FIG. 5, where the point P is passed5Parallel to the Y axis of (P)1,P2) Intersect at P2”(ii) a Y-axis parallel line segment (P)5，P2”) And edge (P)5’，P5) Side (P)5’,P2’) And an edge (P)2’,P2”) Forming a trapezoidal area, and performing division operation flying on the trapezoidal subareas; the remaining partial side divided by the Y-axis dividing line (P1, P)2”) Pressing into a stack;
read edge (P)5,P0) Fonrt side, stack top side (P)1，P2”) Then, make the Y-axis parallel line, as shown in FIG. 6, where the point P is passed1Parallel to the Y axis of (P)5,P0) Intersect at P0’(ii) a Y-axis parallel line segment (P)1，P0’) And edge (P)0’，P5) Side (P)5,P2’) And an edge (P)1,P2”) Forming a trapezoidal area, and performing division operation flying on the trapezoidal subareas; the remaining part side (P) divided by the Y-axis dividing line0’，P0) Pressing into a stack;
read edge (P)0’，P0) Front edge, stack top edge (P)0，P1) Then, the parallel lines of the Y axis are drawn, and as shown in FIG. 7, the parallel line segments of the Y axis (P)1，P0’) And edge (P)0’，P0) And an edge (P)0,P1) Forming a triangular area, and performing division operation flying on the triangular subareas.
At this point, the stack is empty, the polygonal operation farmland is divided into a plurality of sub-areas, and the operation flight is completely finished.
In another embodiment, a path planning system of an autonomous flight agricultural unmanned aerial vehicle based on the path planning method of the above embodiment is provided, and includes a basic flight control module and a main flight control module;
the basic flight control module is used for controlling the unmanned aerial vehicle to carry out division operation flight;
the main flight control module is used for identifying the vertexes of the operation areas, generating coordinates, judging the types of edges formed between the vertexes and dividing the operation areas;
the autonomous flight agricultural unmanned aerial vehicle path planning system has the following working procedures:
the main flight control module adopts an online map to identify the polygon vertex of the operation area and generate XY-plane coordinates according to the operation area of the unmanned aerial vehicle; judging the type of each edge along the polygon operation area anticlockwise and marking the type as a Back edge, a Front edge or a Skip edge;
the main flight control module reads edges along a polygonal operation area anticlockwise by applying a principle that a stack structure enters first and then exits, if the currently read edges and the edge of the top of the stack belong to Back and Front respectively, a common x-axis coordinate part of the two edges is divided by a Y-axis parallel line dividing line to generate a subregion, and the divided rest edges are pressed into the stack;
the basic flight control module performs operation flight on the currently divided sub-regions;
the main flight control module judges whether the stack is empty or not, if the stack is empty, the operation flight is finished, and the operation area is divided into a plurality of sub-areas and all the sub-areas execute the operation flight; and if not, the main flight control module continuously reads the next edge anticlockwise and judges the types of the read edge and the edge at the top of the stack.
It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The path planning method for the autonomous flight agricultural unmanned aerial vehicle is characterized by comprising the following steps:
s1, identifying the polygon vertexes of the operation area and generating XY-plane coordinates for the unmanned aerial vehicle operation area by using the online map;
s2, judging the type of each edge along the polygon working area anticlockwise, and marking the type as a Back edge, a Front edge or a Skip edge;
s3, using the principle of first-in last-out of a stack structure, reading edges along a polygonal operation area anticlockwise, if the currently read edges and the edges at the top of the stack belong to Back and Front respectively, dividing the two edges into a common x-axis coordinate part by a Y-axis parallel line dividing line to generate a sub-area, and pressing the divided residual edges into the stack;
s4, performing operation flight on the currently divided sub-area;
s5, judging whether the stack is empty or not, if so, ending the operation flight, and dividing the operation area into a plurality of sub-areas and completely executing the operation flight; if not, go to step S3 to continue to execute step S3 and the following steps.
2. The method for planning the path of the autonomous flight agricultural unmanned aerial vehicle of claim 1, wherein in step S2, the type of each edge of the working area is determined as follows:
for vertex PiAnd Pi+1The formed edge is judged as follows:
if xi<xi+1If yes, the edge is Back edge;
otherwise, if xi>xi+1And then is Front edge;
otherwise, xi＝xi+1Skip edge, omit;
wherein i is 0, …, n-1, xiIs a vertex PiX-axis coordinate of (2), xi+1Is a vertex Pi+1X-axis coordinates of (a);
and circularly judging the edges formed between the vertexes, and judging the types of the edges between every two vertexes of the operation area.
3. The method for planning the path of the autonomous flight agricultural unmanned aerial vehicle of claim 2, wherein the step S3 is specifically:
s31, setting an empty Stack { };
s32, taking the edge from the working area counterclockwise (P)i，Pi+1)；
S33, judging whether a Back edge or a Front edge of different types from the current edge exists on the stack top according to the judgment result of the edge types in the step S2;
if a Back side or a Front side different from the current side exists at the top of the stack, respectively making a plurality of Y-axis parallel lines passing through the vertexes of the two sides in the operation area, wherein the Y-axis parallel lines and the two sides form a trapezoidal area or a triangular area, namely a sub-area; pressing the rest part of the edge divided by the Y-axis dividing line into a stack;
if there is no Back edge or Front edge of a different type from the current edge at the top of the stack, the process goes to step S32.
4. The method for planning the path of the autonomous flight agricultural unmanned aerial vehicle of claim 3, wherein in step S4, the performing operation flight on the currently divided sub-area specifically comprises:
suppose that the vertex of the partitioned sub-region is { P }start,P1,P2,Pend}；
Is provided (P)start,P1) Is a Back edge;
is provided (P)2,Pend) Is a Front edge;
setting a flight distance Desired _ Gap;
calculating the circulating flight times, wherein the formula is as follows:
|xPstart-xP1|/Desired_Gap；
wherein x isPstartIs a vertex PstartX-axis coordinate of (2), xP1Is a vertex P1X-axis coordinates of (a);
the method comprises the following steps of circularly operating and flying in a sub-area, specifically:
executing rotary motion according to the set flying distance Desired _ Gap;
performing a tilting motion from Back side to Front side or from Front side to Back side;
depending on the sensing height, a vertical movement is performed.
5. The path planning system of the autonomous flight agricultural unmanned aerial vehicle is characterized in that the path planning method of the autonomous flight agricultural unmanned aerial vehicle, which is applied to any one of claims 1 to 4, comprises a basic flight control module and a main flight control module;
the basic flight control module is used for controlling the unmanned aerial vehicle to carry out division operation flight;
the main flight control module is used for identifying the vertexes of the operation areas, generating coordinates, judging the types of edges formed between the vertexes and dividing the operation areas;
the autonomous flight agricultural unmanned aerial vehicle path planning system has the following working procedures:
the main flight control module adopts an online map to identify the polygon vertex of the operation area and generate XY-plane coordinates according to the operation area of the unmanned aerial vehicle; judging the type of each edge along the polygon operation area anticlockwise and marking the type as a Back edge, a Front edge or a Skip edge;
the main flight control module reads edges along a polygonal operation area anticlockwise by applying a principle that a stack structure enters first and then exits, if the currently read edges and the edge of the top of the stack belong to Back and Front respectively, a common x-axis coordinate part of the two edges is divided by a Y-axis parallel line dividing line to generate a subregion, and the divided rest edges are pressed into the stack;
the basic flight control module performs operation flight on the currently divided sub-regions;
the main flight control module judges whether the stack is empty or not, if the stack is empty, the operation flight is finished, and the operation area is divided into a plurality of sub-areas and all the sub-areas execute the operation flight; and if not, the main flight control module continuously reads the next edge anticlockwise and judges the types of the read edge and the edge at the top of the stack.
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| WO2023236734A1 (en) * | 2022-06-06 | 2023-12-14 | 珠海一微半导体股份有限公司 | Map region division method, chip, terminal and robot system |
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