CN114253261A - Path generation method, job control method and related device - Google Patents
Path generation method, job control method and related device Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The embodiment of the application relates to the technical field of automatic driving, and provides a path generation method, an operation control method and a related device, aiming at a reference path, firstly carrying out equidistant translation on the reference path to obtain a first temporary path and a second temporary path which are positioned at two sides of the reference path, and because the first temporary path and the second temporary path are equidistantly translated and positioned at two sides of the reference path, the deformation trends of the first temporary path and the second temporary path relative to the reference path are just opposite and the deformation degrees are consistent; and then combining the first temporary path and the second temporary path to obtain the target path which has the same shape with the reference path and has relatively stable and controllable distance.
Description
Technical Field
The embodiment of the application relates to the technical field of automatic driving, in particular to a path generation method, an operation control method and a related device.
Background
Currently, work equipment (e.g., agricultural machinery, unmanned vehicles, etc.) requires a pre-planned work path that covers the entire plot before performing an autonomous driving task. In path planning, a reference path is usually given, and multiple round-trip paths are generated by using the reference path as a template, but if the reference path is complicated, it is difficult to generate a round-trip path which is consistent with the reference path in shape and has a relatively stable and controllable spacing.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a path generating method, a job control method and a related apparatus, which are used to generate a round-trip path with a shape consistent with a reference path and a relatively stable and controllable pitch.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a path generation method, where the method includes:
obtaining a reference path;
performing equidistant translation on the reference path to obtain a first temporary path and a second temporary path, wherein the first temporary path and the second temporary path are positioned at two sides of the reference path;
and combining the first temporary path and the second temporary path to obtain a target path.
Further, the reference path comprises a plurality of discrete points;
the step of performing equidistant translation on the reference path to obtain a first temporary path and a second temporary path includes:
obtaining a tangent line of each of the discrete points on the reference path;
determining a normal of each discrete point according to a tangent of each discrete point, wherein the normal has a first direction and a second direction, and the first direction is opposite to the second direction;
translating each discrete point for a set distance in a first direction of the normal line of each discrete point to obtain a first temporary path;
and translating each discrete point by a set distance according to the second direction of the normal line of each discrete point to obtain the second temporary path.
Further, the merging the first temporary path and the second temporary path to obtain a target path includes:
determining a position area of the target path to be generated, wherein the position area is on any side of the reference path;
according to the position area, determining a reference path and a path to be translated from the first temporary path and the second temporary path, wherein the reference path is located in the position area;
and translating the path to be translated to the reference path and combining the path to be translated with the reference path to obtain the target path.
Further, the path to be translated comprises a plurality of first discrete points, and the reference path comprises a plurality of second discrete points; the plurality of discrete points, the plurality of first discrete points and the plurality of second discrete points correspond one to one;
the step of translating the path to be translated to the reference path and merging the path to be translated with the reference path to obtain the target path includes:
translating the path to be translated to the reference path until one of the first discrete points is superposed with a second discrete point corresponding to the first discrete point to obtain a translation path;
and respectively calculating the position mean value of each first discrete point on the translation path and the corresponding second discrete point on the reference path to obtain a plurality of mean value position points, wherein the plurality of mean value position points form the target path.
Further, before the step of obtaining the reference path, the method further comprises:
acquiring the current position of the operating equipment;
and moving a preset target window according to the current position so as to enable the operation equipment to be positioned in the center of the target window, wherein the target window is used for generating the target paths, and the number of the target paths is less than or equal to a preset value.
Further, the step of determining a location area of the target path to be generated includes:
acquiring the moving direction of the target window relative to the reference path;
and setting one of both sides of the reference path that coincides with the moving direction as the position area.
In a second aspect, an embodiment of the present application further provides a job control method, where the method includes: controlling the operation equipment to operate according to the target path; the target path is generated by the method of the first aspect.
In a third aspect, an embodiment of the present application further provides a path generating apparatus, where the apparatus includes:
a path obtaining module for obtaining a reference path;
the path translation module is used for performing equidistant translation on the reference path to obtain a first temporary path and a second temporary path, wherein the first temporary path and the second temporary path are positioned on two sides of the reference path;
and the path merging module is used for merging the first temporary path and the second temporary path to obtain a target path.
In a fourth aspect, an embodiment of the present application further provides a job control apparatus, including: the control module is used for controlling the operation equipment to operate according to the target path; the target path is generated by the method of the first aspect.
In a fifth aspect, an embodiment of the present application further provides an electronic device, including a processor and a memory; the memory is used for storing programs; the processor is configured to implement the path generation method in the first aspect and/or the job control method in the second aspect when executing the program.
In a sixth aspect, an embodiment of the present application further provides a working device, including the electronic device in the fifth aspect.
In a seventh aspect, an embodiment of the present application further provides an automatic driving apparatus, including a processor and a memory; the memory is configured to store a program, and the processor is configured to implement the path generation method in the first aspect and/or the job control method in the second aspect when executing the program.
Compared with the prior art, according to the path generation method, the operation control method and the related device provided by the embodiment of the application, the reference path is equidistantly translated to obtain the first temporary path and the second temporary path which are positioned at two sides of the reference path, and the first temporary path and the second temporary path which are obtained are equidistantly translated and positioned at two sides of the reference path, so that the deformation trends of the first temporary path and the second temporary path are opposite and the deformation degrees of the first temporary path and the second temporary path are consistent relative to the reference path; and then, combining the first temporary path and the second temporary path to obtain the target path which has the same shape with the reference path and has relatively stable and controllable distance.
Drawings
Fig. 1 shows one of exemplary diagrams of paths provided by embodiments of the present application.
Fig. 2 shows a second example of the path provided by the embodiment of the present application.
Fig. 3 shows a flowchart of a path generation method provided in an embodiment of the present application.
Fig. 4 shows a third example of the path provided by the embodiment of the present application.
Fig. 5 shows another flowchart of the path generation method provided in the embodiment of the present application.
Fig. 6 shows one of the exemplary diagrams of the target window provided by the embodiment of the present application.
Fig. 7 shows a second example of the target window provided by the embodiment of the present application.
Fig. 8 is a flowchart illustrating step S102 in the path generating method illustrated in fig. 3.
Fig. 9 shows one of the example graphs for path generation provided by the embodiment of the present application.
Fig. 10 shows a second example diagram of path generation provided by the embodiment of the present application.
Fig. 11 shows a third example of path generation provided by the embodiment of the present application.
Fig. 12 is a flowchart illustrating step S103 in the path generating method illustrated in fig. 3.
Fig. 13 is a flowchart illustrating step S1033 in the path generating method illustrated in fig. 12.
Fig. 14 shows a fourth example diagram of path generation provided by the embodiment of the present application.
Fig. 15 shows a block schematic diagram of a path generation apparatus provided in an embodiment of the present application.
Fig. 16 shows a block schematic diagram of an electronic device provided in an embodiment of the present application.
Icon: 100-path generation means; 101-a path acquisition module; 102-a path translation module; 103-path merging module; 104-a processing module; 10-an electronic device; 11-a processor; 12-a memory; 13-bus.
Detailed Description
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.
The agricultural unmanned intellectualization is a key for promoting agricultural development, and before operation, operation equipment (such as agricultural machinery, unmanned vehicles and the like) firstly needs to plan a plurality of back-and-forth paths, then generates an operation route suitable for the operation of the operation equipment according to the plurality of back-and-forth paths, and then performs an automatic driving task by using the operation route for navigation.
In path planning, a reference path is usually given, and multiple round-trip paths are generated by using the reference path as a template. Currently, referring to fig. 1, a reference path is a straight-line path, and a plurality of straight-line reciprocating paths are generated by using the straight-line path as a template, and are used by a large number of working devices (for example, agricultural tractors, rice planters, etc.).
However, taking the example of the operation equipment in the land parcel as an example, in order to realize the full coverage operation of the whole land parcel, when planning the round-trip path, a plurality of round-trip paths covering the whole land parcel are often required to be planned, and most land parcels are irregular in reality. For example, for the plot shown in fig. 1, it is difficult to cover the entire plot if only a straight round-trip path is used.
To solve this problem, referring to fig. 2, in addition to the straight reciprocating path, a curved boundary of different segments of the land can be used as a curved segment reference path, and a plurality of curved reciprocating paths can be generated by using the curved segment reference path as a template, so as to cover a land area which is difficult to be covered by the straight reciprocating path.
Besides the above-mentioned operation scenarios, the curved round-trip path may also be used in other operation scenarios, for example, operations around an island, obstacle avoidance operations, etc., and those skilled in the art may flexibly set the curved round-trip path according to actual application scenarios, which is not limited herein.
As can be seen from the above analysis, in the actual operation of the work equipment, the round trip path planned for the work equipment may be a straight round trip path or a curved round trip path, and the curved round trip path has many advantages.
At present, for a straight-line path, a translation copy is usually performed on the straight-line path, so as to generate a plurality of straight-line back-and-forth paths. However, for a curved segment path, due to the complexity of the curved segment path, it is difficult to select a proper translational replication direction, and improper translational replication of the curve may easily cause the path to be deformed too much. Therefore, if the reference path is a curved-segment path, it is difficult to generate a reciprocating path with a shape consistent with that of the reference path and a relatively stable and controllable pitch by using the existing path generation method.
In order to solve the problem, in the embodiment of the application, for a reference path, first, equidistant translation is performed on the reference path to obtain a first temporary path and a second temporary path which are located on two sides of the reference path, and since the equidistant translation is performed and located on two sides of the reference path, deformation trends of the obtained first temporary path and the obtained second temporary path are just opposite and deformation degrees of the two temporary paths are consistent with each other with respect to the reference path; and then combining the first temporary path and the second temporary path to obtain the target path which has the same shape with the reference path and has relatively stable and controllable distance. As described in detail below.
The path generation method and/or the operation control method provided by the embodiment of the application can be applied to electronic equipment, and the electronic equipment can be a control module of the operation equipment, and can also be a ground station, a mobile terminal (for example, a personal computer, a smart phone, a tablet computer, and the like) of a technician, a server, and the like. The working device may be an agricultural machine (e.g., an agricultural tractor, a rice transplanter, etc.), an unmanned vehicle, etc., or an unmanned ship (e.g., an unmanned cleaning ship, etc.), a robot, etc., which is not limited herein.
The path generation method and/or the operation control method provided by the embodiment of the application can also be applied to automatic driving equipment, and the automatic driving equipment can be an agricultural self-driving instrument and the like.
Referring to fig. 3, fig. 3 is a flowchart illustrating a path generating method according to an embodiment of the present application. The path searching method may include the steps of:
and S101, obtaining a reference path.
Before the automatic driving task is executed by the operation equipment, the path generation method provided by the embodiment can be adopted, and a plurality of round-trip paths are planned by taking the reference path as a template, so that the full coverage operation of the whole land parcel is realized.
The reference path may be a straight line segment path or a curved line segment path, for example, in conjunction with fig. 2, for the center area of the plot, a vertical straight line segment may be used as the reference path; and for the left edge area of the land, a left curved edge boundary can be adopted as a reference path and the like.
In practice, the reference path may be flexibly set according to an actual operation scene, and is not limited herein. For example, for fruit trees in a certain plot, the picked fruits need to be automatically transported to a designated place by adopting operation equipment, and then a reference path can be set according to the distribution condition of the fruit trees in the plot; in another example, if an obstacle exists in the land to be worked, the boundary of the obstacle may be used as a reference path.
S102, performing equidistant translation on the reference path to obtain a first temporary path and a second temporary path, wherein the first temporary path and the second temporary path are positioned on two sides of the reference path.
In this embodiment, after the reference path is obtained, for a reference path of any shape, no matter the reference path is a straight-line path or a curved-line path, the reference path may be subjected to equidistant translation to obtain a first temporary path and a second temporary path located on both sides of the reference path, and since the reference path is subjected to equidistant translation and located on both sides of the reference path, the deformation tendencies of the obtained first temporary path and the second temporary path with respect to the reference path are just opposite and the deformation degrees are the same, so that the target path having the same shape as the reference path and a relatively stable and controllable pitch can be obtained by subsequently combining the first temporary path and the second temporary path.
The equidistant translation of the reference path means that the reference path is respectively translated and copied to two sides of the reference path according to the set distance, so as to obtain a first temporary path positioned at one side of the reference path and a second temporary path positioned at the other side of the reference path.
The set distance may be set by a technician according to an actual working scene, for example, for a field spraying work, the set distance may be an integral multiple of a single-side spraying width, and the like, which is not limited herein.
In general, the set distance is not constant, but is adjusted according to the approximate position of the target path to be generated each time, that is, a round-trip path is generated given a set distance. For example, referring to fig. 4, if a plurality of round-trip paths are generated using the reference path as a template, a plurality of set distances d, 2d, 3d, … …, and nd may be set, one set distance corresponding to one round-trip path, and thus a plurality of round-trip paths from right to left may be sequentially generated.
And S103, combining the first temporary path and the second temporary path to obtain a target path.
In general, if the reference path is complicated, for example, a curved-segment path, after the first temporary path and the second temporary path are generated according to the process of step S102, the first temporary path and the second temporary path are necessarily deformed compared with the reference path.
Therefore, the target path needs to be obtained according to the first temporary path and the second temporary path to eliminate the deformation, so that the target path and the reference path are consistent in shape and relatively stable and controllable in spacing.
Since the first temporary path and the second temporary path obtained in step S102 are obtained by equidistant translation of the reference path and are located on both sides of the reference path, the deformation tendencies of the first temporary path and the second temporary path with respect to the reference path are just opposite and the deformation degrees are consistent. Therefore, the first temporary path and the second temporary path can be combined by using the combination cancellation principle, and the target path which is consistent with the reference path in shape and has relatively stable and controllable spacing can be obtained.
In a possible situation, if the reference path is complex, a lot of data is generated when the round-trip path is generated in batch by using the reference path as a template, so that a huge data load is brought to the equipment, and the equipment is stuck.
In order to solve this problem, the generation of the target paths may be controlled by using an adaptive sliding window manner, and it is ensured that the number of target paths generated each time does not exceed a preset value, so with reference to fig. 5 on the basis of fig. 3, before step S101, the path generation method provided in the embodiment of the present application may further include steps S110 to S120.
And S110, acquiring the current position of the working equipment.
And S120, moving a preset target window according to the current position so as to enable the operation equipment to be positioned in the center of the target window, wherein the target window is used for generating target paths, and the number of the target paths is less than or equal to a preset value.
In this embodiment, the preset value represents an upper limit value of the target paths generated in the target window, for example, if the preset value is 2n, it represents that no more than 2n target paths are generated in the target window each time, and the number of the target paths is controlled within 2 n.
The generation of the target path is controlled by adopting an adaptive sliding window mode, and the method can comprise the following processes:
first, the size of the target window is set by a preset value given in advance. For example, if the preset value is 2n, the center of the target window can be set as a reference, and the left and right are used for generating n entry target paths; alternatively, the left boundary of the target window may be set as a reference, the target window is used for generating a 2n entry label path, and the like. The specific setting mode can be flexibly set by a person skilled in the art according to the actual situation, and is not limited herein.
Then, the current position of the operating equipment is obtained, and the preset target window is moved according to the current position, so that the operating equipment is located in the center of the target window.
Next, it is determined how many entry label paths need to be generated within the target window.
And finally, generating a target path in the target window by taking the reference path as a template.
It should be noted that the reference path and the target window have no necessary relationship, and the reference path may be inside the target window or outside the target window, for example, in combination with fig. 4, the reference path is a curved edge boundary on the left side of the parcel, and the reference path is necessarily outside the target window, and is specifically determined according to an actual application scenario, and is not limited herein.
For example, referring to fig. 6, the black triangles represent the working devices, the broken lines are the reference paths, and the preset values are the reference paths, and the reference paths are used as templates to generate a plurality of target paths according to the manner of steps S101 to S103. The generated paths may be numbered and stored, for example, the reference path number is 0, the number of the right path is sequentially incremented, and the number of the left path is sequentially decremented.
If the operating device moves, for example, please refer to fig. 7, since the operating device moves to the right, the target window is moved to the right, so that the operating device is located at the center of the target window; and then, judging how many entry target paths need to be generated in the target window, sequentially checking whether the paths are in the target window from the left side of the target window, deleting the paths if the paths are not in the target window until the paths do not need to be deleted, simultaneously sequentially checking whether the paths are lacked from the right side of the target window, and generating new target paths to corresponding positions if the paths are lacked according to the modes of S101-S103. For example, in fig. 7, if it is checked from the left side of the target window that path-6 and path-5 are not found in the target window, path-6 and path-5 are deleted, and if it is checked from the right side of the target window that 2 paths are missing, path 3 and path 4 are generated in the manner of S101 to S103.
It should be noted that the above-mentioned right shifting of the target window is only an example, the above-mentioned process is still applicable to moving the target window to other directions, and the specific process is similar to the above-mentioned process of right shifting, and is not described herein again.
By the adaptive sliding window method introduced in the steps S110 to S120, target paths covering the entire land are not required to be generated at one time, but target paths whose number does not exceed the preset value are generated each time, and the number of the target paths is stabilized within the preset value, so that a large amount of data can be avoided, the equipment is prevented from being stuck, and the path generation efficiency is improved.
Step S102 will be described in detail below.
If the reference path is a curved segment path, it is difficult to select an appropriate translational replication direction for the curved segment path, and an inappropriate translational replication of the curve may easily result in excessive path distortion. Therefore, in order to solve this problem, the reference path may be discretized into a plurality of discrete points, and then each discrete point may be translated according to a uniform rule, thereby preventing excessive path distortion.
Therefore, as an embodiment, referring to fig. 8 on the basis of fig. 3, step S102 may include the following sub-steps:
and S1021, obtaining a tangent line of each discrete point on the reference path.
In the present embodiment, the reference path includes a plurality of discrete points, which may be discretized into the reference path, in other words, constitute the reference path, and include the reference path and the start point and the end point.
For the reference path, a tangent line of each discrete point on the reference path may be obtained, for example, referring to fig. 9, taking the discrete point M as an example, a tangent line of the discrete point M on the reference path is generated.
And S1022, determining a normal of each discrete point according to the tangent of each discrete point, wherein the normal has a first direction and a second direction, and the first direction and the second direction are opposite.
After obtaining the tangent of each discrete point on the reference path, the normal of each discrete point can be determined according to the tangent, wherein the normal has a first direction and a second direction, and the first direction and the second direction are opposite. For example, referring to fig. 9 again, taking the discrete point M as an example, a normal line of the discrete point M is determined according to a tangent line of the discrete point M, and the first direction and the second direction of the normal line are as shown in fig. 9.
And S1023, translating each discrete point by a set distance according to the first direction of the normal line of each discrete point to obtain a first temporary path.
And S1024, translating each discrete point by a set distance according to the second direction of the normal line of each discrete point to obtain a second temporary path.
Referring to fig. 10, taking a discrete point M as an example, the discrete point M is translated in a first direction d of a normal line thereof to obtain M1, and the discrete point M is translated in a second direction d of the normal line thereof to obtain M2.
Referring to fig. 11, each discrete point on the reference path is translated according to the above-mentioned translation manner of the discrete point M, so as to obtain a first temporary path and a second temporary path.
As an embodiment, referring to fig. 12 on the basis of fig. 3, step S103 is described in detail below, and step S103 may include the following sub-steps:
and S1031, determining a position area of the target path to be generated, wherein the position area is on any side of the reference path.
The position area of the target path to be generated refers to the position area in which the target path needs to be generated. In this embodiment, the position area of the target path to be generated may be determined through the target window introduced in steps S110 to S120, and the determining process may include:
firstly, acquiring the moving direction of a target window relative to a reference path;
then, one of both sides of the reference path that coincides with the moving direction is set as a position area.
That is, in conjunction with fig. 7, the moving direction of the target window with respect to the reference path is rightward, and the right side of the reference path is taken as the position area.
S1032, according to the position area, determining a reference path and a path to be translated from the first temporary path and the second temporary path, wherein the reference path is located in the position area.
And S1033, translating the path to be translated to the reference path and combining the path to be translated with the reference path to obtain a target path.
The reference path refers to a path located in the location area among the first temporary path and the second temporary path. The path to be translated refers to a path other than the reference path among the first temporary path and the second temporary path.
In this embodiment, the path to be translated includes a plurality of first discrete points, and the reference path includes a plurality of second discrete points; the plurality of discrete points, the plurality of first discrete points, and the plurality of second discrete points correspond one-to-one. Therefore, on the basis of fig. 12, referring to fig. 13, step S1033 may include the following sub-steps:
s10331, translating the path to be translated to the reference path until one of the first discrete points coincides with a second discrete point corresponding to the first discrete point, so as to obtain a translation path.
One of the first discrete points and the second discrete point corresponding to the first discrete point coincide with each other, which may be that any one of the first discrete points in the path to be translated coincides with the corresponding second discrete point in the reference path, or that one of the first discrete points specified in the path to be translated coincides with the corresponding second discrete point in the reference path, which is not limited in this embodiment of the present application.
S10332, respectively calculating a position mean of each first discrete point on the translation path and the corresponding second discrete point on the reference path to obtain a plurality of mean position points, where the plurality of mean position points form the target path.
The step of translating the path to be translated to the reference path means that the path to be translated is wholly translated to the reference path, and the path to be translated does not deform in the translation process. With reference to fig. 11, if a direction from the start point to the end point of the reference route is taken as the reference direction, and a target route to be generated is on the left side of the reference route, the entire right second temporary route is shifted to the left first temporary route until M2 coincides with M1, so that a single shift route is obtained, and then the position averages of the respective corresponding discrete points on the shift route and the first temporary route are obtained, so that a plurality of mean position points are obtained, and the plurality of mean position points constitute the target route, and the generated target route is as shown in fig. 14.
It should be noted that, the above is described by taking the target path that needs to be generated on the left side of the reference path as an example, and for the case that the target path that needs to be generated is on the right side of the reference path, similar to the above process, details are not described here again.
The embodiment of the present application further provides an operation control method, which may include the following steps:
and S201, controlling the operation equipment to operate according to the target path.
The target path may be generated by the path generation method introduced in the foregoing embodiment, and for detailed implementation, reference may be made to the description of the foregoing embodiment, which is not described herein again.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
firstly, performing equidistant translation on a reference path to obtain a first temporary path and a second temporary path which are positioned at two sides of the reference path, wherein the first temporary path and the second temporary path are obtained by equidistant translation and positioned at two sides of the reference path, the deformation tendency of the first temporary path and the deformation tendency of the second temporary path relative to the reference path are opposite and the deformation degrees of the first temporary path and the second temporary path are consistent, and then the first temporary path and the second temporary path are combined to obtain a target path which is consistent with the reference path in shape and relatively stable and controllable in distance;
secondly, the method can be suitable for reference paths with any shapes, and target paths which are consistent with the reference paths in shape and have relatively stable and controllable intervals can be obtained regardless of straight-line paths or curved-line paths.
In order to execute the corresponding steps in the above-mentioned embodiment of the path generating method and various possible embodiments, an implementation manner applied to the path generating apparatus is given below.
Referring to fig. 15, fig. 15 is a block diagram illustrating a path generating apparatus 100 according to an embodiment of the present disclosure. The path generation apparatus 100 may be applied to electronic devices, such as a control module of a working device itself, a ground station, a mobile terminal of a technician (e.g., a personal computer, a smartphone, a tablet computer, etc.), a server, and the like; it can also be applied to automatic driving equipment, such as an agricultural autopilot, etc. The path generation apparatus 100 includes: a path obtaining module 101, a path translating module 102 and a path merging module 103.
A path obtaining module 101, configured to obtain a reference path.
The path translation module 102 is configured to perform equidistant translation on the reference path to obtain a first temporary path and a second temporary path, where the first temporary path and the second temporary path are located on two sides of the reference path.
And a path merging module 103, configured to merge the first temporary path and the second temporary path to obtain a target path.
Optionally, the reference path comprises a plurality of discrete points; the path translation module 102 is specifically configured to:
obtaining a tangent line of each discrete point on the reference path;
determining a normal of each discrete point according to a tangent of each discrete point, wherein the normal has a first direction and a second direction, and the first direction and the second direction are opposite;
translating each discrete point for a set distance according to the first direction of the normal of each discrete point to obtain a first temporary path;
and translating each discrete point by a set distance according to the second direction of the normal line of each discrete point to obtain a second temporary path.
Optionally, the path merging module 103 is specifically configured to:
determining a position area of a target path to be generated, wherein the position area is arranged on any side of the reference path;
determining a reference path and a path to be translated from the first temporary path and the second temporary path according to the position area, wherein the reference path is located in the position area;
and translating the path to be translated to the reference path and combining the path to be translated with the reference path to obtain the target path.
Optionally, the path to be translated includes a plurality of first discrete points, and the reference path includes a plurality of second discrete points; the plurality of discrete points, the plurality of first discrete points and the plurality of second discrete points are in one-to-one correspondence; the path merging module 103 executes a manner of translating the path to be translated to the reference path and merging the path to be translated with the reference path to obtain the target path, including:
translating the path to be translated to a reference path until one of the first discrete points is superposed with a second discrete point corresponding to the first discrete point to obtain a translation path;
and respectively calculating the position mean value of each first discrete point on the translation path and the corresponding second discrete point on the reference path to obtain a plurality of mean value position points, wherein the plurality of mean value position points form the target path.
Optionally, the path generation apparatus 100 further comprises a processing module 104.
A processing module 104, configured to obtain a current location of the operating device; and moving a preset target window according to the current position so as to enable the operation equipment to be positioned in the center of the target window, wherein the target window is used for generating target paths, and the number of the target paths is less than or equal to a preset value.
Optionally, the path merging module 103 executes a manner of determining a location area of the target path to be generated, including: acquiring the moving direction of the target window relative to the reference path; one of both sides of the reference path that coincides with the moving direction is set as a position area.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the path generating apparatus 100 described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The embodiment of the present application further provides an operation control apparatus, which may be applied to an electronic device, for example, a control module of the operation device itself, a ground station, a mobile terminal of a technician (e.g., a personal computer, a smart phone, a tablet computer, etc.), a server, etc.; it can also be applied to automatic driving equipment, such as an agricultural autopilot, etc.
The job control apparatus may include a control module for controlling the job device to perform the job according to the target path. The target path may be generated by the path generation method introduced in the foregoing embodiment, and for detailed implementation, reference may be made to the description of the foregoing embodiment, which is not described herein again.
Referring to fig. 16, fig. 16 is a block diagram illustrating an electronic device 10 according to an embodiment of the present disclosure. The electronic device 10 may be a control module of the working device itself, or may be a ground station, a mobile terminal of a technician (e.g., a personal computer, a smart phone, a tablet computer, etc.), a server, and the like. The working equipment can be agricultural machinery, unmanned vehicles and the like, such as agricultural tractors, rice transplanters and the like; and can also be an unmanned ship, a robot and the like, such as an unmanned cleaning ship and the like. The electronic device 10 includes a processor 11, a memory 12, and a bus 13, and the processor 11 is connected to the memory 12 through the bus 13.
The memory 12 is used for storing a program, and the processor 11 executes the program after receiving an execution instruction to implement the path generation method and/or the job control method disclosed in the above embodiments.
The Memory 12 may include a Random Access Memory (RAM) and may also include a non-volatile Memory (NVM).
The processor 11 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 11. The processor 11 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Micro Control Unit (MCU), a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), and an embedded ARM.
The embodiment of the application also provides a working device which comprises the electronic device 10.
The embodiment of the application also provides automatic driving equipment which can be an agricultural machinery autopilot and the like. The autopilot device includes a processor and a memory; the memory is used for storing programs; the processor is configured to implement the path generation method and/or the job control method disclosed in the above embodiments when executing the program.
The present embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 11, the computer program implements the path generation method and/or the job control method disclosed in the above embodiments.
To sum up, according to the path generation method, the operation control method and the related device provided by the embodiment of the present application, for the reference path, the reference path is first subjected to equidistant translation to obtain the first temporary path and the second temporary path located at two sides of the reference path, and since the first temporary path and the second temporary path are subjected to equidistant translation and located at two sides of the reference path, the deformation trends of the first temporary path and the second temporary path are just opposite and the deformation degrees of the first temporary path and the second temporary path are consistent with each other; and then combining the first temporary path and the second temporary path to obtain the target path which has the same shape with the reference path and has relatively stable and controllable distance.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (13)
1. A method for path generation, the method comprising:
obtaining a reference path;
performing equidistant translation on the reference path to obtain a first temporary path and a second temporary path, wherein the first temporary path and the second temporary path are positioned at two sides of the reference path;
and combining the first temporary path and the second temporary path to obtain a target path.
2. The method of claim 1, wherein the reference path comprises a plurality of discrete points;
the step of performing equidistant translation on the reference path to obtain a first temporary path and a second temporary path includes:
obtaining a tangent line of each of the discrete points on the reference path;
determining a normal of each discrete point according to a tangent of each discrete point, wherein the normal has a first direction and a second direction, and the first direction is opposite to the second direction;
translating each discrete point for a set distance in a first direction of the normal line of each discrete point to obtain a first temporary path;
and translating each discrete point by a set distance according to the second direction of the normal line of each discrete point to obtain the second temporary path.
3. The method of claim 2, wherein said merging the first temporary path and the second temporary path to obtain a target path comprises:
determining a position area of the target path to be generated, wherein the position area is on any side of the reference path;
according to the position area, determining a reference path and a path to be translated from the first temporary path and the second temporary path, wherein the reference path is located in the position area;
and translating the path to be translated to the reference path and combining the path to be translated with the reference path to obtain the target path.
4. The method of claim 3, wherein the path to be translated comprises a plurality of first discrete points, the reference path comprises a plurality of second discrete points; the plurality of discrete points, the plurality of first discrete points and the plurality of second discrete points correspond one to one;
the step of translating the path to be translated to the reference path and merging the path to be translated with the reference path to obtain the target path includes:
translating the path to be translated to the reference path until one of the first discrete points is superposed with a second discrete point corresponding to the first discrete point to obtain a translation path;
and respectively calculating the position mean value of each first discrete point on the translation path and the corresponding second discrete point on the reference path to obtain a plurality of mean value position points, wherein the plurality of mean value position points form the target path.
5. The method of claim 3, wherein prior to the step of obtaining a reference path, the method further comprises:
acquiring the current position of the operating equipment;
and moving a preset target window according to the current position so as to enable the operation equipment to be positioned in the center of the target window, wherein the target window is used for generating the target paths, and the number of the target paths is less than or equal to a preset value.
6. The method of claim 5, wherein the step of determining a location area in which to generate the target path comprises:
acquiring the moving direction of the target window relative to the reference path;
and setting one of both sides of the reference path that coincides with the moving direction as the position area.
7. A method of job control, the method comprising:
controlling the operation equipment to operate according to the target path; the target path is generated by the method of any one of claims 1-6.
8. A path generation apparatus, characterized in that the apparatus comprises:
a path obtaining module for obtaining a reference path;
the path translation module is used for performing equidistant translation on the reference path to obtain a first temporary path and a second temporary path, wherein the first temporary path and the second temporary path are positioned on two sides of the reference path;
and the path merging module is used for merging the first temporary path and the second temporary path to obtain a target path.
9. An operation control device, characterized by comprising:
the control module is used for controlling the operation equipment to operate according to the target path; the target path is generated by the method of any one of claims 1-6.
10. An electronic device comprising a processor and a memory; the memory is used for storing programs; the processor is configured to implement the path generation method according to any one of claims 1 to 6 and/or the job control method according to claim 7 when the program is executed.
11. A work apparatus comprising the electronic apparatus according to claim 10.
12. An autopilot device comprising a processor and a memory; the memory is configured to store a program, and the processor is configured to implement the path generation method according to any one of claims 1 to 6 and/or the job control method according to claim 7 when executing the program.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the path generation method according to any one of claims 1 to 6 and/or the job control method according to claim 7.
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