CN113994171A - Path planning method, device and system - Google Patents
Path planning method, device and system Download PDFInfo
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- CN113994171A CN113994171A CN202080039073.5A CN202080039073A CN113994171A CN 113994171 A CN113994171 A CN 113994171A CN 202080039073 A CN202080039073 A CN 202080039073A CN 113994171 A CN113994171 A CN 113994171A
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- 238000012163 sequencing technique Methods 0.000 claims description 28
- 230000003993 interaction Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 7
- 238000009499 grossing Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 description 26
- 239000003814 drug Substances 0.000 description 19
- 239000007921 spray Substances 0.000 description 14
- 238000010586 diagram Methods 0.000 description 13
- 238000005507 spraying Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 4
- 235000006650 Syzygium cordatum Nutrition 0.000 description 3
- 240000005572 Syzygium cordatum Species 0.000 description 3
- 229940079593 drug Drugs 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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- 238000011156 evaluation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
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- 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
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- G—PHYSICS
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Abstract
A method, a device and a system for path planning are provided. The method comprises the following steps: generating a reference path according to reference information input by a user (S202), then determining target job objects from the job objects according to the relative position relation of the job objects in the job area and the reference path (S204), then carrying out sorting processing on the target job objects so as to generate a target path according to the positions of the sorted target job objects (S206), and executing job tasks according to the target path. The target path is generated through the reference information which is automatically input by the user, the user can define the operation path according to the requirements of the actual operation scene, the adjustment of the operation path is flexible, and the requirements of the user in different scenes can be met.
Description
The present application relates to the field of navigation technologies, and in particular, to a path planning method, apparatus, and system.
At present, many fields can all use movable platform to replace the manual work to go to accomplish some job tasks, for example, can use unmanned aerial vehicle to shoot to electric wire equipment and patrol and examine, use unmanned aerial vehicle to carry out the medicine to crops and spray or use unmanned vehicle to water trees etc.. Before these movable platforms are used to perform a task, the working path of the movable platform needs to be planned in advance so that the movable platform can perform the task according to the path. When the operation path of the movable platform is determined by the related technology, a user cannot define the operation path independently, the flexibility is poor, and the requirements of the user in different operation scenes cannot be met.
Disclosure of Invention
In view of the above, the present application provides a method, an apparatus and a system for path planning.
According to a first aspect of the present application, there is provided a path planning method, the method comprising:
generating a reference path according to reference information input by a user;
determining a target operation object in the operation objects according to the relative position relation between each operation object in the operation area and the reference path;
and sequencing the target job objects to generate a target path based on the sequenced target job objects.
According to a second aspect of the present application, there is provided a path planning apparatus, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the processor, when executing the computer program, implements the following steps:
generating a reference path according to reference information input by a user;
determining a target operation object in the operation objects according to the relative position relation between each operation object in the operation area and the reference path;
and sequencing the target job objects to generate a target path based on the sequenced target job objects.
According to a third aspect of the present application, there is provided a path planning system, comprising a movable platform and a control terminal,
the control terminal is used for generating a reference path according to reference information input by a user, determining a target operation object in the operation objects according to the relative position relation between each operation object in an operation area and the reference path, sequencing the target operation objects to generate a target path based on the sequenced target operation objects, and sending the target path to the movable platform;
and the movable platform is used for executing the operation task according to the target path.
By applying the scheme provided by the application, the reference path can be generated according to the reference information input by the user, the target operation objects are determined from the operation objects according to the relative position relation between each operation object and the reference path in the operation area, then the target operation objects are sequenced, so that the target path is generated according to the position of the sequenced target operation objects, and the movable platform executes the operation task according to the target path. The target path is generated through the reference information input by the user, the user can define the operation path according to the requirements of the actual operation scene, the determination of the operation path is flexible, and the requirements of the user in different scenes can be met.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1(a) is a schematic diagram that this application embodiment adopted unmanned aerial vehicle to shoot the bridge and patrol and examine.
Fig. 1(b) is a schematic diagram of an embodiment of the present application, which employs an unmanned aerial vehicle to spray medicine on fruit trees.
Fig. 2 is a flowchart of a path planning method according to an embodiment of the present application.
FIG. 3 is a schematic diagram of generating a reference path according to a reference point input by a user on a map according to an embodiment of the present application.
Fig. 4(a) is a schematic diagram of generating a reference path according to a reference point according to an embodiment of the present application.
Fig. 4(b) is a schematic diagram of generating a reference path according to a reference point according to an embodiment of the present application.
FIG. 5 is a schematic diagram of a search area generated based on a search radius and a reference path according to an embodiment of the present application.
FIG. 6 is a diagram illustrating the generation of a target path by ranking target job objects, according to an embodiment of the present application.
Fig. 7 is a schematic diagram of an application scenario according to an embodiment of the present application.
Fig. 8 is a schematic diagram of a logic structure of a path planning apparatus according to an embodiment of the present application.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
At present, many intelligent movable platforms can all be used for replacing the manual work to accomplish some job tasks, for example, can use unmanned aerial vehicle to shoot to electric power equipment, bridge etc. and patrol and examine to whether check-out equipment or bridge have the trouble, or also can use unmanned aerial vehicle to carry out medicine to crops and spray or water, use unmanned dolly or unmanned aerial vehicle robot to water trees etc. as shown in fig. 1(a), for using unmanned aerial vehicle to shoot the schematic diagram of patrolling and examining to some specific positions of bridge (like A, B, C department in the picture). As shown in fig. 1(b), a schematic diagram of spraying medicine on fruit trees by using an unmanned aerial vehicle is shown. Before the movable platform is used for executing the operation task, the operation path can be planned, so that the movable platform can execute the operation task according to the operation path. Take unmanned aerial vehicle to carry out the medicine to crops and spray as an example, need confirm the position of the crops that unmanned aerial vehicle need spray earlier to and unmanned aerial vehicle is to the spraying order of these crops, and form unmanned aerial vehicle's operation route. In the related art, when the operation path of the movable platform is determined, a user cannot define the operation path independently, the flexibility is low, and the requirements of the user on various operation scenes cannot be met.
Based on the above, the application provides a path planning method, which can realize that a user can define the operation path of the movable platform independently. As shown in fig. 2, the path planning method includes the following steps:
s202, generating a reference path according to reference information input by a user;
s204, determining a target work object in the work objects according to the relative position relation between each work object in the work area and the reference path;
s206, sequencing the target job objects to generate a target path based on the sequenced target job objects.
The path planning method can be used for operation path planning of various movable platforms when various operation tasks such as crop irrigation, crop medicine spraying, photographing and inspection are executed, and the movable platforms can be intelligent movable equipment such as unmanned aerial vehicles, unmanned trolleys and unmanned aerial vehicles. The operation object of this application can be treat that the watering or treat crops, trees that carry out the medicine and spray, also can treat the power equipment that the picture was patrolled and examined or treat that the picture is patrolled and examined certain concrete position of bridge etc. this application does not do the restriction. In some embodiments, the work object may be a crop and the movable platform may be a drone, with the drone being used to spray or irrigate the crop with a medicament.
Generally, the movable platform can be controlled by the control terminal, the control terminal can control the moving path, the moving state, the operating state and the like of the movable platform, the path planning method can be used for the control terminal corresponding to the movable platform, and the control terminal can be various electronic devices capable of communicating with the movable platform, such as a remote controller matched with the movable platform, a mobile phone of a user, a tablet, an intelligent watch and other various terminals. In some embodiments, the control terminal may include a path planning device, where the path planning device may be an application program (APP) installed in the control terminal, and the APP is used to perform a path planning operation.
Generally, before a task is executed by a movable platform, a task execution area may be surveyed, image or geospatial data of the area is collected, the movable platform or a control terminal may generate a map, such as a Digital Surface Model (DSM) map, a two-dimensional map, or a three-dimensional map, etc., describing an overall view of the area according to the collected image or geospatial data, and a user may select a working area range of the movable platform according to the map and determine a working path of the movable platform. In addition, each object in the image can be identified according to the acquired image and a machine learning algorithm, a semantic image of the region is generated, the semantic image is labeled with the category of each object in the region, and the operation object in the region can be identified according to the semantic image.
In order to achieve the purpose that a user autonomously defines and plans the working path of the movable platform, the user can autonomously input the reference information of the working path, for example, the user can determine the expected working path according to the generated map and input the corresponding reference information according to the expected working path. And then generating a reference path according to reference information input by a user, and determining a target operation object from the operation objects according to the relative position relation between each operation object and the reference path in the operation area selected by the user in advance, wherein the target operation object is the operation object to be operated at the current time. And then sequencing the target job objects so as to generate a target path when the movable platform executes the job task according to the positions of the sequenced target job objects. The target operation objects can be determined by one side of the control terminal, sequenced and sent to the movable platform, the movable platform generates a target path according to the sequenced target operation objects, and the control terminal can generate the target path and then send to the movable platform, which is not limited in the application.
The target path of the movable platform for executing the operation task is planned according to the reference information independently input by the user, so that the planning of the operation path is more flexible, and the user can independently define the operation path according to actual requirements so as to meet the requirements of different operation scenes.
The reference information may be information such as a reference point, a reference line, etc. input by the user according to the expected work path, wherein, in some embodiments, the user may directly input coordinate information of the reference point or the reference line to generate the reference path. Of course, in some embodiments, if the control terminal includes a human-computer interaction interface, in order to enable a user to more intuitively see the distribution of the job objects in the job area and facilitate the user to input reference information, the human-computer interaction interface may be provided to the user before the reference path is generated, the human-computer interaction interface may include a map corresponding to the job area, the map may be a two-dimensional map or a three-dimensional map, and the user may directly determine a reference point or a reference line on the map to generate the reference path. For example, the user may click several reference points on the map according to the expected work path in a dotting manner, and then generate a reference path according to the reference points. Of course, the user may draw a reference line directly on the map according to the expected work path, and then generate a reference path according to the reference line drawn by the user. The reference path may be in various forms such as a straight line, a curved line, or a broken line, and may be flexibly set according to actual requirements, which is not limited in the present application. As shown in fig. 3, a schematic diagram of reference path generation in an embodiment of the present application is a scenario in which a working path is determined when an unmanned aerial vehicle is used to spray a medicine on a tree, and the reference path may be generated according to a reference point (e.g., a white dot in the figure) selected by a user on a map.
Of course, in some embodiments, when the reference path is generated according to the reference points determined by the user on the map, the reference points selected by the user may be sequentially connected according to the dotting order of the user to generate the reference path, as shown in fig. 4(a), each point is the reference point selected by the user, the number corresponding to each point represents the dotting order of the user, and the reference points may be sequentially connected according to the dotting order to generate the reference path. Of course, in some embodiments, in order to avoid a situation that the last path has many round trips, after the user takes the dotting, the reference points may be connected in sequence according to the distance between the reference points to obtain a reference path with the shortest distance and relatively optimized, as shown in fig. 4(b), each point is a reference point selected by the user, the number of each point represents the dotting sequence of the user, and each reference point may be connected in sequence according to the distance between the reference points to obtain the reference path. Certainly, after the user determines a reference point or a reference line on the map, the control terminal may also perform a preliminary evaluation on the generated reference path, and if the path has a phenomenon of more turns or some other defects, a popup window may be set to prompt the user, so that the user updates or modifies the reference path.
In one embodiment, the semantic image may be combined to identify a work object in the work area, for example, trees to be watered, power equipment to be photographed, and the like. Then, a target work object is determined according to the relative position relationship between each work object and the reference path, where the target work object may be a work object on the reference path or near the reference path, for example, the distance between the target work object and the reference path may be less than a certain threshold, or a work object in a certain range area around the reference path.
In some embodiments, when determining the target job object according to the relative positional relationship between the job object and the reference path in the job region, a search region may be determined in the job region according to the reference path and the search radius, and then the job object located in the search region may be determined as the target job object. Taking a scene of spraying the medicine on the trees by using the unmanned aerial vehicle as an example, as shown in fig. 5, a user selects a reference point (e.g., a white point 51 in the figure) on a map, then generates a reference path 52 according to the reference point, and can determine a polygonal area 53 according to a search radius R and the reference path 52, where the polygonal area 53 is a search area, and all trees in the search area are target operation objects to be sprayed with the medicine. In some embodiments, after determining the search area, the determined search area may be displayed on a map of the user interaction interface and the determined target job object may be marked so that the user may determine whether to meet expectations, whether to adjust the reference path, etc., based on the displayed search area and the determined target job object.
The search radius may be preset or determined in real time. For example, in some embodiments, the search radius may be determined based on the size of the job object, and then the search area may be determined based on the search radius and the reference path. Taking a scenario in which no one sprays the medicine on the trees as an example, the trees are generally distributed in a certain order, as shown in fig. 5, if only one row of trees needs to be sprayed with the medicine, the search radius may be determined according to the tree width of one tree, for example, the search radius may be set to be half of the tree width, so that the search area determined according to the reference path and the search radius basically only contains the one row of trees, and of course, if two adjacent rows of trees need to be sprayed each time, the search radius may be set according to the tree width and the distance between the two rows of trees. The search radius can be flexibly set according to actual requirements, and the method is not limited in the application.
After the target operation objects needing to execute the operation tasks are determined, the target operation objects can be sequenced, the sequencing is used for determining the sequence of the operation operations of the movable platform on the target operation objects, and the target path of the unmanned aerial vehicle during operation can be determined according to the sequenced target operation objects. In some embodiments, the target job objects may be ordered according to their distance from the end point of the reference path. The end point may be a starting point or an end point of the reference path, for example, a distance between each target job object and the starting point or the end point of the reference path may be determined, and the target job objects are sorted according to the distance. For each target operation object, a certain point may be selected from the target operation object to represent the position of the target object, for example, the center of the target operation object or the center of other important parts represents the target operation object, and may be specifically determined according to the characteristics of the operation task in the actual scene. Take the scene that unmanned aerial vehicle carries out the medicine to trees to spray as an example, unmanned aerial vehicle all carries out the medicine to it towards the trees center and sprays to can cover whole trees, therefore can select the central point (the tree center) of trees to represent the position of this trees, certainly, if the scene that unmanned vehicle irrigates trees, water trees from the side of trees usually, therefore can select the position that this trees are represented to some point of the side of trees.
In some embodiments, the reference path may include a plurality of line segments connected in sequence, and when the target job objects are sorted, the line segments corresponding to the target job objects may be determined according to the distance between each target job object and each line segment in the reference path, and then the target job objects may be sorted according to the sequence of the line segments corresponding to the target job objects.
In some embodiments, each line segment in the reference path may correspond to one or more target job objects, and when the target job objects are sorted according to the sequence of the line segments corresponding to the target job objects, the target job objects may be divided into a plurality of groups according to the distance between the target job objects and the line segments of the reference path, where each group corresponds to one line segment in the reference path, and the distance between the target job objects in each group and the line segment in the reference path corresponding to the group is the shortest. The target job objects within each group may then be sorted, and sorted according to the order of the segments of the reference path to which each group corresponds, and the order of the target job objects within that group.
In some embodiments, when the target job objects in each group are sorted, the droop of each target job object in each group on the line segment of the reference path corresponding to the group may be determined first, and then the target job objects in the group may be sorted according to the distance between the droop of each target job object and the end point of the reference path, or of course, the target job objects may also be sorted according to the distance between each target job object in the group and the end point of the line segment corresponding to the group.
For example, as shown in fig. 6, a circle point in the drawing represents a reference point determined by a user, a triangle point represents a position of a center of a tree, a dotted line 61 in the drawing is a reference path generated according to the reference point, the reference path includes a line segment (I), a line segment (ii), and a line segment (iii) which are connected in sequence, each line segment can correspond to a group, distances between the center of the tree a-I and the line segment (I), the line segment (ii), and the line segment (iii) in a search area can be determined first, then the tree a-I is divided into groups corresponding to the line segments with the shortest distance, for example, the tree a-C is divided into groups corresponding to the line segment (I), the tree D-F is divided into groups corresponding to the line segment (ii), and the tree G-I is divided into groups corresponding to the line segment (iii). Then, the tree centers in each group are sorted respectively, the foot from the tree center of the tree in each group to the line segment corresponding to the group can be determined, then, the distance between each foot and the reference path end point is determined, then, sorting is carried out according to the sequence from the near to the far, so that the sorting sequence of the tree centers in each group is determined, then, the tree centers A-I can be sorted again according to the sequence of the line segments to obtain the final sorting result, and finally, the target path can be obtained according to the position of the sorted tree centers A-I, such as a solid line 62 in the figure.
Of course, the method for sorting the target job objects is not limited to the method listed in the present application, and any method capable of sorting the target objects is applicable to the present application.
Of course, for some scenarios, the job height may also be considered when executing the job task on the target job object. For example, when the unmanned aerial vehicle irrigates crops and sprays medicines, a certain spraying distance is provided, and a good effect can be achieved. Therefore, a height can be determined for each tree center position, and a three-dimensional target path carrying height information is obtained.
Of course, some obstacles may exist in the working scene, such as houses, utility poles, etc., and therefore, when planning the working path, obstacle avoidance processing needs to be performed on the obstacles. Due to the fact that different obstacles have different characteristics, when obstacle avoidance processing is carried out, a proper obstacle avoidance strategy can be determined according to the types of the obstacles. For example, taking an unmanned aerial vehicle as an example of performing a task, since there may be obstacles such as telegraph poles and houses in a working scene, and for an obstacle with a large volume such as a house, if a mode of bypassing the obstacle is adopted, the unmanned aerial vehicle may need to bypass a relatively long distance, which affects working efficiency, so that the unmanned aerial vehicle can avoid the obstacle by flying over the obstacle. For obstacles with high height and small volume such as telegraph poles, if the obstacles fly over from the top, the operation efficiency is also affected if the obstacles fly over from the top at a higher height, so that the obstacles can be bypassed. The type of the obstacle can be determined according to a semantic map of a pre-generated operation area, and after the obstacle avoidance strategy is determined, the generated target path can be updated according to the obstacle avoidance strategy so as to obtain the path subjected to obstacle avoidance processing.
In some embodiments, the generated target path may have relatively many bends, such as waving left and right in the horizontal direction or swinging up and down in the vertical direction. This can lead to unmanned aerial vehicle constantly to adjust the direction when carrying out the operation task, for example turn left for a moment, turn right for a moment, up for a moment, down for a moment, influence its operating efficiency. Therefore, in some embodiments, the generated target path may be further smoothed, for example, the path may be smoothed in a horizontal direction or a vertical direction, respectively. Taking the case that the unmanned aerial vehicle sprays the medicine on the trees, usually the tree center is taken as the position of the trees, during actual treatment, a certain range deviating from the tree center is also feasible, and during spraying, an allowable operation height range is provided, so that the coordinates of each point in the path can be adjusted in the horizontal direction or the vertical direction according to the allowable deviation range during operation, and a smoother operation path can be obtained.
To further explain the path planning method provided in the present application, the following is explained with reference to a specific embodiment.
Unmanned aerial vehicles are now widely used in the agricultural field, such as for spraying or irrigating with drugs to fruit trees. In the correlation technique, when the unmanned aerial vehicle sprays the pesticide to the fruit trees, the unmanned aerial vehicle automatically sequences according to the positions and the intervals of the fruit trees in the operation area to determine the operation path. In the mode, a user cannot define the operation path and is not flexible enough to meet the requirements of the user. Therefore, the embodiment provides a method for realizing the main planning of the job path of the user.
As shown in fig. 7, which is an application scenario diagram of the embodiment of the present application, a user may install a designated APP on a control terminal 72, and communicate with an unmanned aerial vehicle 71 through the control terminal 72 to implement planning of a working path.
When the pesticide spraying is required to be performed on the fruit trees, the unmanned aerial vehicle 71 can firstly perform reconnaissance on a task execution area, acquire images and geographic space data of the task execution area and send the images and the geographic space data to the control terminal, and the control terminal can generate a map and a semantic map of the area according to the data acquired by the unmanned aerial vehicle, such as a two-dimensional or three-dimensional map and a DSM (digital image model) map. The control terminal can display a map of the area to a user, the map can be two-dimensional or three-dimensional, the user can select a working area in the map, a reference point is selected on the map according to an expected working path, the user can randomly click on the map to select the reference point, and after receiving an instruction of clicking a screen by the user to avoid error touch, prompt information of 'whether the click is selected as the reference point' can be displayed so that the user can further confirm. After the user selects the reference point, the selected reference point can be displayed on the map, so that the user can conveniently view the reference point. After the user finishes selecting the reference points, the reference points may be sequentially connected according to the distance between the reference points to generate a reference path, as shown in fig. 3. Then, the search radius can be determined according to the tree width of the fruit trees, for example, if only one row of fruit trees needs to be sprayed each time, the search radius can be determined to be half of the width of the fruit trees, and if two rows of fruit trees need to be sprayed, the search radius can be determined according to the distance between the two rows of fruit trees and the tree width. Then, a search area can be determined according to the reference path and the search radius, as shown in fig. 5, the position of the center of each fruit tree in the operation area can be determined by combining the semantic graph and the DSM graph, then whether each center of each tree position is in the search area is judged, and if yes, the fruit tree is determined as the fruit tree to be sprayed.
As shown in fig. 3, the reference path may be formed by sequentially connecting a plurality of line segments, after the fruit trees to be sprayed in the working area are determined, the distance between the tree center of the fruit tree to be sprayed and each line segment in the reference path may be determined, and then the fruit trees to be sprayed are divided into groups corresponding to the line segment closest to the tree center. Aiming at the fruit trees to be sprayed in each group, the dangling feet of each fruit tree to be sprayed and the corresponding line segment of the group can be determined, then the distance between the end point of the reference path and each dangling foot is determined, the fruit trees in the group are sorted according to the sequence from the near to the far of the distance between the dangling feet and the end point of the reference path to obtain the sorting result of the fruit trees in the group, and then the sorting sequence of all the fruit trees to be sprayed is obtained according to the connection sequence of the line segments in the reference path and the sorting sequence of the fruit trees in the group.
After the sequencing sequence of the hearts of the fruit trees to be sprayed is determined, the height corresponding to the position of each heart can be determined according to the operation height during spraying, the operation path can be determined according to the position and the sequencing sequence of the hearts of the fruit trees to be sprayed and the operation height corresponding to each heart, and a medicine spraying switch is arranged aiming at the position of the fruit trees.
Because obstacles such as houses, telegraph poles and the like may exist in the operation area, the types of the obstacles in the operation area can be determined by combining the semantic graph, a proper obstacle avoidance strategy is selected according to the types of the obstacles, and the generated operation path is updated according to the obstacle avoidance strategy. In order to obtain a smoother work path, the generated work path may be smoothed in the horizontal direction or the vertical direction. By means of user-defined operation paths, the operation paths can be determined more flexibly, and user experience is improved.
Correspondingly, the present application also provides a path planning apparatus, as shown in fig. 8, the apparatus 80 includes a processor 81, a memory 82, and a computer program stored on the memory 82 and executable by the processor 81, and when the processor 81 executes the computer program, the following steps are implemented:
generating a reference path according to reference information input by a user;
determining a target operation object in the operation objects according to the relative position relation between each operation object in the operation area and the reference path;
and sequencing the target job objects to generate a target path based on the sequenced target job objects.
In some embodiments, before the processor is configured to generate the reference path according to the reference information input by the user, the processor is further configured to:
and providing a human-computer interaction interface, wherein the human-computer interaction interface comprises a map corresponding to the operation area, and the reference information comprises a reference point or a reference line determined by a user on the map.
In some embodiments, the processor, when determining a target job object in the job objects according to the relative position relationship between the job object in the job area and the reference path, is specifically configured to:
determining a search area in the working area according to the reference path and the search radius;
and determining the job object positioned in the search area as the target job object.
In certain embodiments, the processor is further configured to:
and determining the search radius according to the size of the operation object.
In some embodiments, when the processor is configured to perform sorting processing on the target job object, the processor is specifically configured to:
and sequencing the target operation objects according to the distance between the target operation objects and the end points of the reference path.
In some embodiments, the reference path includes a plurality of line segments connected in sequence, and the processor is specifically configured to, when performing sorting processing on the target job object:
determining a line segment corresponding to the target operation object according to the distance between the target operation object and each line segment;
and sequencing the target operation objects according to the sequence of the line segments corresponding to the target operation objects.
In some embodiments, the number of the target job objects corresponding to each line segment is one or more, and when the processor is configured to perform sorting processing on the target job objects according to the sequence of the line segments corresponding to the target job objects, the processor is specifically configured to:
dividing the target operation object into a plurality of groups, wherein each group corresponds to one line segment, and the distance between the target operation object in each group and the line segment corresponding to the group is shortest;
sequencing the target operation objects in each group;
and sequencing the target operation objects according to the sequence of the line segments corresponding to the grouping and the sequence of the target operation objects in the grouping.
In some embodiments, when the processor is configured to perform sorting processing on the target objects in each group, the processor is specifically configured to:
determining the drop foot of the target operation object in each group on the line segment corresponding to the group;
and sequencing the target operation objects in the grouping according to the distance between the end point of the reference path or the end point of the line segment corresponding to the grouping and the foot.
In some embodiments, when the processor is configured to generate the target path based on the sorted target job object, the processor is specifically configured to:
and determining the target path according to the position and the work height of the sequenced target work object.
In certain embodiments, the processor is further configured to:
determining a type of obstacle in the work area;
and determining an obstacle avoidance strategy according to the type of the obstacle, and updating the target path according to the obstacle avoidance strategy.
In certain embodiments, the processor is further configured to:
and carrying out smoothing processing on the target path.
In certain embodiments, the work object comprises a crop.
For details of various implementations of the path planning performed by the path planning apparatus, reference may be made to the description in each embodiment of the path planning method, which is not described herein again.
In addition, the application also provides a path planning system, which comprises a movable platform and a control terminal,
the control terminal is used for generating a reference path according to reference information input by a user, determining a target operation object in the operation objects according to the relative position relation between each operation object in an operation area and the reference path, sequencing the target operation objects to generate a target path based on the sequenced target operation objects, and sending the target path to the movable platform;
and the movable platform is used for executing the operation task according to the target path.
Accordingly, an embodiment of the present specification further provides a computer storage medium, where a program is stored, and when the program is executed by a processor, the method for path planning in any of the above embodiments is implemented.
Embodiments of the present description may take the form of a computer program product embodied on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having program code embodied therein. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of the storage medium of the computer include, but are not limited to: phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "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 method and apparatus provided by the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (25)
- A method of path planning, the method comprising:generating a reference path according to reference information input by a user;determining a target operation object in the operation objects according to the relative position relation between each operation object in the operation area and the reference path;and sequencing the target job objects to generate a target path based on the sequenced target job objects.
- The method of claim 1, wherein before generating the reference path according to the reference information input by the user, the method further comprises:and providing a human-computer interaction interface, wherein the human-computer interaction interface comprises a map corresponding to the operation area, and the reference information comprises a reference point or a reference line determined by a user on the map.
- The method according to claim 1 or 2, wherein the determining a target one of the work objects according to a relative positional relationship of the work object in the work area and the reference path includes:determining a search area in the working area according to the reference path and the search radius;and determining the job object positioned in the search area as the target job object.
- The method of claim 3, further comprising:and determining the search radius according to the size of the operation object.
- The method according to any of claims 1-4, wherein said ordering said target job object comprises:and sequencing the target operation objects according to the distance between the target operation objects and the end points of the reference path.
- The method according to any one of claims 1 to 4, wherein the reference path comprises a plurality of line segments connected in sequence, and the sorting the target job object comprises:determining a line segment corresponding to the target operation object according to the distance between the target operation object and each line segment;and carrying out sequencing processing on the target operation object according to the sequence of the line segment corresponding to the target operation object.
- The method according to claim 6, wherein one or more target job objects corresponding to each line segment are provided, and the sorting of the target job objects according to the sequence of the line segments corresponding to the target job objects comprises:dividing the target operation object into a plurality of groups, wherein each group corresponds to one line segment, and the distance between the target operation object in each group and the line segment corresponding to the group is shortest;sequencing the target operation objects in each group;and sequencing the target operation objects according to the sequence of the line segments corresponding to the grouping and the sequence of the target operation objects in the grouping.
- The method of claim 7, wherein the ordering the target objects in each group comprises:determining the drop foot of the target operation object in each group on the line segment corresponding to the group;and sequencing the target operation objects in the grouping according to the distance between the end point of the reference path or the end point of the line segment corresponding to the grouping and the foot.
- The method of claim 1, wherein generating a target path based on the sorted target job objects comprises:and determining the target path according to the position and the work height of the sequenced target work object.
- The method of claim 1, further comprising:determining a type of obstacle in the work area;and determining an obstacle avoidance strategy according to the type of the obstacle, and updating the target path according to the obstacle avoidance strategy.
- The method of claim 1, further comprising:and carrying out smoothing processing on the target path.
- The method according to any one of claims 1-11, wherein the work object comprises a crop.
- A path planner, the apparatus comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, the processor implementing the following steps when executing the computer program:generating a reference path according to reference information input by a user;determining a target operation object in the operation objects according to the relative position relation between each operation object in the operation area and the reference path;and sequencing the target job objects to generate a target path based on the sequenced target job objects.
- The apparatus of claim 13, wherein the processor, prior to generating the reference path based on the reference information input by the user, is further configured to:and providing a human-computer interaction interface, wherein the human-computer interaction interface comprises a map corresponding to the operation area, and the reference information comprises a reference point or a reference line determined by a user on the map.
- The apparatus according to claim 13 or 14, wherein the processor, when determining the target one of the job objects according to the relative position relationship between the job object in the job area and the reference path, is specifically configured to:determining a search area in the working area according to the reference path and the search radius;and determining the job object positioned in the search area as the target job object.
- The apparatus of claim 15, wherein the processor is further configured to:and determining the search radius according to the size of the operation object.
- The apparatus according to any of claims 13 to 16, wherein the processor, when performing the sorting process on the target job object, is specifically configured to:and sequencing the target operation objects according to the distance between the target operation objects and the end points of the reference path.
- The apparatus according to any of claims 13 to 16, wherein the reference path comprises a plurality of line segments connected in sequence, and the processor is configured to, when performing the sorting process on the target job object, specifically:determining a line segment corresponding to the target operation object according to the distance between the target operation object and each line segment;and carrying out sequencing processing on the target operation object according to the sequence of the line segment corresponding to the target operation object.
- The apparatus according to claim 18, wherein there are one or more target job objects corresponding to each line segment, and the processor is configured to, when performing sorting processing on the target job objects according to the sequence of the line segments corresponding to the target job objects, specifically:dividing the target operation object into a plurality of groups, wherein each group corresponds to one line segment, and the distance between the target operation object in each group and the line segment corresponding to the group is shortest;sequencing the target operation objects in each group;and sequencing the target operation objects according to the sequence of the line segments corresponding to the grouping and the sequence of the target operation objects in the grouping.
- The apparatus of claim 19, wherein the processor, when configured to perform the sorting process on the target objects in each group, is specifically configured to:determining the drop foot of the target operation object in each group on the line segment corresponding to the group;and sequencing the target operation objects in the grouping according to the distance between the end point of the reference path or the end point of the line segment corresponding to the grouping and the foot.
- The apparatus according to claim 13, wherein the processor, when generating the target path based on the sorted target job objects, is specifically configured to:and determining the target path according to the position and the work height of the sequenced target work object.
- The apparatus of claim 13, wherein the processor is further configured to:determining a type of obstacle in the work area;and determining an obstacle avoidance strategy according to the type of the obstacle, and updating the target path according to the obstacle avoidance strategy.
- The apparatus of claim 13, wherein the processor is further configured to:and carrying out smoothing processing on the target path.
- The apparatus of any of claims 13-23, wherein the work object comprises a crop.
- A path planning system is characterized by comprising a mobile platform and a control terminal,the control terminal is used for generating a reference path according to reference information input by a user, determining a target operation object in the operation objects according to the relative position relation between each operation object in an operation area and the reference path, sequencing the target operation objects to generate a target path based on the sequenced target operation objects, and sending the target path to the mobile platform;and the mobile platform is used for executing the operation task according to the target path.
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