CN114442657A - Unmanned equipment operation method, device, equipment and storage medium - Google Patents
Unmanned equipment operation method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses an unmanned equipment operation method, a device, equipment and a storage medium, wherein the method comprises the following steps: determining a return point of a current air route of the unmanned equipment, wherein the air route comprises one or more air sections, and the return point comprises a position point where the operation of the operation materials carried by the unmanned equipment is finished; if the return point is not the flight segment end point, adjusting the operation parameters of the unmanned equipment so as to enable the return point of the current flight path to be the flight segment end point; and controlling the unmanned equipment to operate according to the adjusted operation parameters and performing return voyage at the re-determined return voyage point. According to the scheme, the operation efficiency of the unmanned equipment is improved, and the electric quantity loss of the unmanned equipment is reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned equipment, in particular to an unmanned equipment operation method, device, equipment and storage medium.
Background
With the development of the unmanned equipment technology, the use of the unmanned equipment for automation work is widely used. Such as pesticide spraying or crop sowing and the like along a set route by controlling unmanned equipment.
In the prior art, the unmanned equipment adopts fixed operation parameters when carrying operation materials for automatic operation, returns according to a position point at the moment when the operation of the operation materials is finished, supplements the operation materials after returning to the set position point, carries the materials to sail to the last returning point again after the supplementation is finished, and continues to operate along the set route from the returning point.
Disclosure of Invention
The embodiment of the invention provides an unmanned equipment operation method, an unmanned equipment operation device, equipment and a storage medium, solves the problem that an unmanned equipment operation route and operation parameters are unreasonable in the prior art, and improves the operation efficiency of the unmanned equipment.
In a first aspect, an embodiment of the present invention provides an unmanned equipment operation method, where the method includes:
determining a return point of a current air route of the unmanned equipment, wherein the air route comprises one or more air sections, and the return point comprises a position point where the operation of the operation materials carried by the unmanned equipment is finished;
if the return point is not the flight segment end point, adjusting the operation parameters of the unmanned equipment so as to enable the return point of the current flight path to be the flight segment end point;
and controlling the unmanned equipment to operate according to the adjusted operation parameters and performing return voyage at the re-determined return voyage point.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle operation apparatus, including:
the system comprises a return point determining module, a return point determining module and a return control module, wherein the return point determining module is used for determining a return point of a current route of the unmanned equipment, the route comprises one or more route sections, and the return point comprises a position point of the unmanned equipment where the operation of operation materials carried by the unmanned equipment is finished;
the operation parameter adjusting module is used for adjusting the operation parameters of the unmanned equipment if the return point is not the flight segment end point, so that the return point of the current flight line is the flight segment end point;
and the operation control module is used for controlling the unmanned equipment to operate according to the adjusted operation parameters and return at the re-determined return point.
In a third aspect, an embodiment of the present invention further provides a working device, where the working device includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for unmanned aerial vehicle operation according to the embodiment of the present invention.
In a fourth aspect, the present invention further provides a storage medium storing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for unmanned aerial device operation according to the present invention.
In the embodiment of the invention, the return point of the current air route of the unmanned equipment is determined, wherein the air route comprises one or more flight sections, the return point comprises a position point where the operation of the operation materials carried by the unmanned equipment is finished, if the return point is not a flight section end point, the operation parameters of the unmanned equipment are adjusted, so that the return point of the current air route is the flight section end point, the unmanned equipment is controlled to operate according to the adjusted operation parameters, and the return is performed at the re-determined return point.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle operation method according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a waypoint of an unmanned aerial device according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a determined waypoint in a route provided by an embodiment of the invention;
FIG. 4 is a schematic illustration of an unmanned aerial device working flight path provided by an embodiment of the present invention;
FIG. 5 is a flow chart of another method for unmanned aerial vehicle operation according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an operation process according to an embodiment of the present invention;
FIG. 7 is a flowchart of a method for determining job width according to an embodiment of the present invention;
FIG. 8 is a flow chart of another method for unmanned aerial vehicle operation according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an operating device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application are capable of operation in sequences other than those illustrated or described herein, and that the terms "first," "second," etc. are generally used in a generic sense and do not limit the number of terms, e.g., a first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The unmanned aerial vehicle operation method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
Fig. 1 is a flowchart of an unmanned aerial vehicle operation method according to an embodiment of the present invention, where the method may be implemented to optimize an operation process of the unmanned aerial vehicle, and the method may be executed by a device with a computing function, such as an unmanned aerial vehicle, a remote control device, a server device, a notebook computer, or a mobile phone terminal, and specifically includes the following steps:
step S101, determining a return point of a current air route of the unmanned equipment, wherein the air route comprises one or more air route sections, and the return point comprises a position point where the operation of the operation materials carried by the unmanned equipment is finished.
In one embodiment, the unmanned device, such as a drone, may operate along a set route. Such as pesticide spraying operation, crop seeding operation and the like. The unmanned aerial vehicle is limited by the material quantity of the operation materials carried by the unmanned aerial vehicle or the electric quantity of the unmanned aerial vehicle, and when the operation materials are used up or the electric quantity of the battery is insufficient, such as when the carried pesticide is sprayed up or the electric quantity of the battery is insufficient, the unmanned aerial vehicle needs to return to the home to supplement the operation materials or simultaneously charge the battery and the like, so that the operation is continued after the operation materials are supplemented.
In the existing route planning process, the route distance is determined according to preset operation parameters of operation materials, such as spray amplitude of pesticide spraying, and then an operation route is generated according to set course navigation parameters aiming at a planned operation plot. Aiming at the land parcel with a relatively large area, the unmanned equipment cannot finish the operation of the whole land parcel at one time, and the operation process needs to return to the air to supplement the operation materials. If the total amount of the operation materials is 500 jin for a defined operation plot, and the material amount of the operation materials which can be carried by the unmanned aerial vehicle during single operation execution is 100 jin, the unmanned aerial vehicle needs to return 5 times to finish the operation when performing the operation of the plot. In the operation process of the unmanned equipment, the unmanned equipment can carry out return voyage according to the set return points, and if the route is planned, a plurality of return points can be set so as to carry out return voyage when the unmanned equipment navigates to the set return points. Or in the operation process of the unmanned equipment, the corresponding position point when the consumption of the operation material amount is finished is used as a return point for returning.
In one embodiment, the waypoint for the current flight path is first determined before the drone begins operation. The flight path along which the unmanned equipment operates can comprise one or more flight sections, namely, one flight path can be composed of a plurality of flight sections. Optionally, the flight segment may include an operation flight segment and a non-operation flight segment, where the operation flight segment refers to a flight segment in which the operation is performed while the unmanned device is sailing, and the non-operation flight segment refers to a flight segment in which only the sailing is performed but the operation is not performed when the unmanned device is sailing.
In one embodiment, the mode of determining the return point of the current flight path of the unmanned device comprises the following steps: and determining a return point of the current route of the unmanned equipment according to a pre-planned route path of the unmanned equipment. Namely, when the unmanned equipment executes a navigation operation for one frame, the return point corresponding to the operation in the air route path is obtained according to the air route path planned in advance.
In another embodiment, as shown in fig. 2, fig. 2 is a flowchart of a method for determining a return point of an unmanned aerial vehicle according to an embodiment of the present invention, which provides another way for determining a return point of a current route of an unmanned aerial vehicle, and specifically includes:
and S1011, acquiring the material quantity and the mu usage of the operation materials carried by the unmanned equipment.
When a return point of the unmanned equipment of the current rack is determined, the material quantity and the mu usage amount of the operation materials carried by the unmanned equipment are obtained, wherein the material quantity of the operation materials can be the material quantity of the operation materials carried by the unmanned equipment when the unmanned equipment is fully loaded, the material quantity of the current rack supplement recorded in the operation material supplement process, or the material quantity of the carried operation materials measured in real time through a sensor integrated with the unmanned equipment. Wherein, the mu quantity corresponds this operation material's fixed constant value when the operation material operation of carrying on, and the mu quantity that different operation materials correspond can be different, and the mu quantity that sets up to its operation in-process of same operation material is the same.
And step S1012, determining the working distance of the unmanned equipment according to the material quantity, the mu usage and the first working width.
Wherein, this first operation width can be the operation width of unmanned equipment operation material that sets up in advance, like the range of spouting that the pesticide sprays, or crop seeding range of sowing, shows through the operation width in this scheme. Specifically, the material amount carried by the unmanned equipment is set as k, and the unit of k is gram or milliliter; the mu dosage of the corresponding operation material is d, and the unit is milliliter per square meter or gram per square meter; if the first working width is s, which may be in meters, the calculated working distance l is k/d/s.
And S1013, determining a return point of the current route according to the working distance and the route path of the current route.
In one embodiment, after determining the current working distance of the unmanned device, a return point of the current route may be determined according to the route path of the current route. Specifically, for the current route path, the operation starting point of the next flight in the route is taken as the starting point, and when the route path starting to navigate along the starting point is the operation distance, the corresponding position point is the return point.
And S102, if the return point is not the flight segment end point, adjusting the operation parameters of the unmanned equipment so as to enable the return point of the current air route to be the flight segment end point.
In the process of one-time navigation, that is, a current flight path may include one or more flight segments, taking the current flight path including one flight segment as an example, as shown in fig. 3, fig. 3 is a schematic diagram of a return point determined in the flight path according to an embodiment of the present invention. As shown in fig. 3, it includes a leg 10, and the end points at both ends of the leg 10 are denoted as leg end points, such as marked leg end points 11. The determined return point is marked by 12, and as shown in fig. 3, if the return point 12 is in the leg section interval of the non-leg end point of the leg section 10, it is determined that the return point is not the leg section end point, otherwise, if the return point falls on the leg section end point 11, it is determined that the return point is the leg section end point. Optionally, the end point of the flight segment may be a circular area formed by taking a preset length (e.g., 3 meters) as a radius, and when the return point of the unmanned device falls into the circular area, the return point is determined to be the end point of the route.
In one embodiment, when the return point of the unmanned device is determined not to be the end point of the air route, the operation parameters of the unmanned device are adjusted correspondingly. Taking the unmanned equipment carrying the operation materials for spraying operation as an example, the operation width of the operation materials, namely the spraying amplitude is adjusted to change the consumption of the operation materials in unit distance during the operation of the unmanned equipment, so that the unmanned equipment can return to the end point of the flight. When the flight line operation is started again after the return flight, the operation can be started from a new flight line without carrying operation materials to navigate to the original return flight point which is not at the end point of the flight section, and the operation is started again, so that the problem of high energy consumption caused by the flight of the operation materials is solved.
For example, fig. 4 is a schematic diagram of an unmanned aerial vehicle working route according to an embodiment of the present invention. As shown in FIG. 4, the working route comprises five legs AB, BC, CD, DE and EF, wherein the working leg is three legs AB, CD and EF, and BC and DE are non-working legs. And (4) assuming that the determined original back-navigation point is G or J, correspondingly changing the operation material consumption of unit distance by adjusting operation parameters to enable the back-navigation point to be the point B.
And S103, controlling the unmanned equipment to operate according to the adjusted operation parameters, and performing return voyage at the re-determined return voyage point.
Taking fig. 4 as an example, when the unmanned aerial vehicle is controlled to navigate according to the adjusted operation parameters, when the unmanned aerial vehicle navigates to the point B, the return navigation is performed after the operation materials are consumed, and the return navigation is performed from the newly determined return point B. And after the materials are supplemented by the return voyage, starting the operation of the voyage section CD by taking the point C as the voyage starting point of a new frame. In one embodiment, for a given plot, supplementary points of the operation materials are arranged on two sides or multiple sides of the plot, and the unmanned equipment can navigate the return route according to the principle of the determined shortest path from the return point to the supplementary points.
According to the scheme, the problem that the energy consumption is high due to the fact that the unmanned equipment needs to carry operation materials to sail to the return point again when the unmanned equipment returns in the midway of the navigation section to start operation is solved, no-load return is achieved, operation is started after the operation point reaches the shortest distance when the unmanned equipment is fully loaded, and the operation efficiency of the unmanned equipment is improved.
Fig. 5 is a flowchart of another operation method of the unmanned aerial vehicle according to the embodiment of the present invention, which shows a specific method for determining a return point and an operation parameter, so that the return point of a current route is a route segment end point, as shown in fig. 5, the method specifically includes:
step S201, obtaining the material quantity and the mu usage quantity of operation materials carried by the unmanned equipment, and determining the operation distance of the unmanned equipment according to the material quantity, the mu usage quantity and the first operation width.
Step S202, determining a return point of the current air route according to the working distance and the air route path of the current air route.
Step S203, if the return point is not a leg end point, determining the leg end point closest to the return point as an updated return point, and adjusting the first operation width to be a second operation width according to the position of the updated return point.
In one embodiment, if it is determined that the back travel point is not the leg end point, a mode of determining the leg end point as the back travel point nearby is adopted, so that the number of legs of the unmanned device sailing in one overhead sailing is an integer, such as sailing 2 complete legs or sailing 3 complete legs. Optionally, for a route with a non-operation route segment, if the route segment end point determined nearby is also the end point of the non-operation route segment at the same time, and the non-operation route segment is in the direction in which the route segment end point has navigated, selecting another end point of the non-operation route segment as a return route end point.
In one embodiment, the working width is adjusted accordingly, i.e. from the first working width to the second working width, in response to a different re-determination of the waypoint.
Specifically, if the updated return point is a position point before the original return point, the first operation width is increased to obtain a second operation width; and if the updated return point is a position point behind the original return point, reducing the first operation width to obtain a second operation width. Wherein, when the unmanned equipment carries a fixed amount of operation materials, the area of the operation land is fixed for each rack, as shown in fig. 6, fig. 6 is an operation process schematic diagram provided by the embodiment of the invention. The operation area is obtained by multiplying the length of the flight line by the operation width, the operation area is M, the lengths of the flight lines are N and P respectively, the operation width corresponding to the flight line N is set as Q, the operation width corresponding to the flight line P is set as R, the operation area M is equal to N, Q and P, namely, the flight line distance capable of operating is farther when the operation width is reduced, and correspondingly, the flight line distance capable of operating is shorter when the operation width is increased.
If the updated return point is the position point before the original return point, the return point is changed to the position point before the original return point by increasing the operation width and reducing the operation distance. And if the updated return point is the position point behind the original return point, changing the return point to the position point behind the original return point by reducing the operation width and increasing the operation distance.
Specifically, fig. 7 is a flowchart of a method for determining a working width according to an embodiment of the present invention, and as shown in fig. 7, the adjusting the first working width to the second working width according to the updated position of the waypoint includes:
and S2031, determining a second operation width according to the updated length of the navigation section where the return point is located, the material quantity carried in the unmanned equipment and the corresponding mu quantity.
The updated length of the flight section where the return point is located is recorded as h1, the material amount carried in the unmanned equipment is recorded as m1, the corresponding mu usage is recorded as m2, and the second operation width n1 is determined as m1/m2/h1 according to the formula described above.
Step S2032, adjusting the first work width to the second work width.
For example, if the first working width is 8 meters, and the second working width determined as above is 6 meters and 10 meters, respectively, according to the position of the return point, the working width of the unmanned aerial vehicle is adjusted from 8 meters to 6 meters or 10 meters.
And S204, controlling the unmanned equipment to operate according to the adjusted operation parameters, and performing return voyage at the re-determined return voyage point.
Preferably, the method further includes adaptively adjusting the position of the existing route when controlling the navigation work of the unmanned aerial vehicle after changing the work width of the unmanned aerial vehicle. When the new operation parameters are used for operation, the covered operation area and the operation area covered by the previous air route operation are spliced, so that the whole land can be completely covered by operation materials in the operation process, and no overlapped part or no missing part of the materials which are not operated exists.
According to the scheme, the material quantity and the mu quantity of the operation materials carried by the unmanned equipment are obtained, the operation distance of the unmanned equipment is determined according to the material quantity, the mu quantity and the first operation width, the return point of the current airline is determined based on the operation distance and the airline path of the current airline, if the return point is not the airline section end point, the nearest airline section end point is determined as the return point by adopting the principle of proximity, the second operation width is determined according to the updated length of the airline section where the return point is located and the material quantity and the mu quantity carried by the unmanned equipment, the first operation width is adjusted to the second operation width for navigation operation, so that the whole airline section is ensured to be operated completely in each frame of operation, when the operation materials are supplemented for operation again, the navigation distance for carrying the materials by the unmanned equipment without operation is reduced, and the operation mechanism of the unmanned equipment is optimized, the electric quantity or oil consumption of the unmanned equipment is obviously reduced, the original operation process is obviously optimized, and the operation efficiency is improved.
Based on the above technical solution, a further method for adjusting operation parameters in real time during the operation of the unmanned aerial vehicle is provided, as shown in fig. 8, fig. 8 is a flowchart of another method for operating the unmanned aerial vehicle according to an embodiment of the present invention, and includes:
step S301, determining a return point of a current air route of the unmanned aerial vehicle, wherein the air route comprises one or more air route sections, and the return point comprises a position point where the operation of the operation materials carried by the unmanned aerial vehicle is finished.
Step S302, if the return point is not the flight segment end point, adjusting the operation parameters of the unmanned equipment so as to enable the return point of the current air route to be the flight segment end point.
And S303, controlling the unmanned equipment to operate according to the adjusted operation parameters, acquiring the material quantity and the navigation position point carried by the unmanned equipment at present in real time, and finely adjusting the adjusted operation parameters if the back-navigation point is determined not to be the navigation section endpoint according to the navigation position point, the material quantity and the adjusted operation parameters.
Specifically, the real-time acquisition may be performed in real time or at certain time intervals to determine the currently carried material amount and the navigation position point. After the current navigation position point is determined, whether the currently carried material amount is consumed at the currently determined return point is determined according to the length of the operation path from the navigation position point to the return point, if so, the error represents that the operation error of the rack is relatively small, otherwise, fine adjustment is performed on the adjusted operation parameter, a specific fine adjustment mode includes increasing the operation width and reducing the operation width, and the determination of the numerical values of increasing the operation width and reducing the operation width can refer to the description of the above example, and is not repeated here.
According to the scheme, when the unmanned equipment is controlled to operate according to the adjusted operation parameters, the material quantity and the navigation position point carried by the unmanned equipment at present are obtained in real time, if the back navigation point is determined not to be the navigation section end point according to the navigation position point, the material quantity and the adjusted operation parameters, the adjusted operation parameters are finely adjusted, the problem that the back navigation point of the operation navigation of the current set of operation caused by operation processing errors in the operation process of the unmanned equipment is not the navigation section end point is avoided, and the operation flow of the unmanned equipment is further reasonably optimized.
In one embodiment, the unmanned aerial vehicle executes the unmanned aerial vehicle operation method provided in the above example when starting the current-frame voyage operation, so that the return point of the frame is the end point of the voyage segment. Optionally, when one set of flight line, that is, the current flight line includes a plurality of flight segments, when the operation parameters of the unmanned aerial vehicle are adjusted, it may be determined whether the back-navigation point is a flight segment end point based on the material amount of the currently carried operation material and the path distance of the last two flight segments when the flight line is in the last two flight segments executed in the navigation process, if not, the operation parameters in the navigation of the last two flight segments are adjusted, and the operation parameters of the previous flight segment retain the initial operation parameters or the operation parameters of the previous set.
Fig. 9 is a schematic block diagram of an unmanned aerial vehicle operation apparatus according to an embodiment of the present invention, which is configured to execute the above-described unmanned aerial vehicle operation method, and has functional blocks and beneficial effects corresponding to the execution method. As shown in fig. 9, the system specifically includes: a waypoint determination module 101, an operation parameter adjustment module 102, and an operation control module 103, wherein,
the return flight point determining module 101 is used for determining a return flight point of a current flight path of the unmanned aerial vehicle, wherein the flight path comprises one or more flight sections, and the return flight point comprises a position point where operation of operation materials carried by the unmanned aerial vehicle is completed;
the operation parameter adjusting module 102 is configured to adjust an operation parameter of the unmanned aerial vehicle if the return point is not a leg end point, so that the return point of the current route is the leg end point;
and the operation control module 103 is used for controlling the unmanned equipment to operate according to the adjusted operation parameters and return at the newly determined return point.
According to the scheme, the return point of the current air route of the unmanned equipment is determined, if the return point is not the air route end point, the operation parameters of the unmanned equipment are adjusted, so that the return point of the current air route is the air route end point, the unmanned equipment is controlled to operate according to the adjusted operation parameters, and return is carried out at the re-determined return point.
In a possible embodiment, the waypoint determination module 101 is specifically configured to:
and determining a return point of the current route of the unmanned equipment according to a pre-planned route path of the unmanned equipment.
In a possible embodiment, the operation parameter includes a first operation width of the operation material, and the back-navigation point determining module 101 is specifically configured to:
acquiring the material quantity and mu usage of the operation materials carried by the unmanned equipment;
determining the working distance of the unmanned equipment according to the material quantity, the mu usage amount and the first working width;
and determining a return point of the current air route according to the operation distance and the air route path of the current air route.
In a possible embodiment, the operation parameter adjusting module 102 is specifically configured to:
determining the segment end point closest to the return point as an updated return point;
and adjusting the first operation width to a second operation width according to the updated position of the backspace point.
In one possible embodiment, if the updated return point is a position point before the original return point, the first operation width is increased to obtain a second operation width; and if the updated return point is the position point behind the original return point, reducing the first operation width to obtain a second operation width.
In a possible embodiment, the operation parameter adjusting module 102 is specifically configured to:
determining a second operation width according to the updated length of the voyage section of the return voyage point, the material quantity carried in the unmanned equipment and the corresponding mu quantity;
and adjusting the first working width to the second working width.
In one possible embodiment, the job control module 103 is further configured to:
when the unmanned equipment is controlled to operate according to the adjusted operation parameters, the material quantity and the navigation position point currently carried by the unmanned equipment are obtained in real time;
and if the fact that the back-navigation point is not the end point of the navigation section is determined according to the navigation position point, the material amount and the adjusted operation parameters, fine adjustment is carried out on the adjusted operation parameters.
Fig. 10 is a schematic structural diagram of an application interface launching device according to an embodiment of the present invention, as shown in fig. 10, the device includes a processor 201, a memory 202, an input device 203, and an output device 204; the number of the processors 201 in the device may be one or more, and one processor 201 is taken as an example in fig. 10; the processor 201, the memory 202, the input device 203 and the output device 204 in the apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 10. The memory 202 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the application interface starting method in the embodiment of the present invention. The processor 201 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 202, that is, the application interface starting method described above is realized. The input device 203 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the apparatus. The output device 204 may include a display device such as a display screen.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which may be stored in the form of a server application, the computer-executable instructions, when executed by a computer processor, are configured to perform a method for unmanned aerial device operations, the method comprising:
determining a return point of a current air route of the unmanned equipment, wherein the air route comprises one or more air sections, and the return point comprises a position point where the operation of the operation materials carried by the unmanned equipment is finished;
if the return point is not the flight segment end point, adjusting the operation parameters of the unmanned equipment so as to enable the return point of the current flight path to be the flight segment end point;
and controlling the unmanned equipment to operate according to the adjusted operation parameters and performing return voyage at the re-determined return voyage point.
It should be noted that, in this document, 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 like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (which may be an unmanned device, a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.
Claims (10)
1. An unmanned aerial vehicle operation method is characterized by comprising:
determining a return point of a current air route of the unmanned equipment, wherein the air route comprises one or more air sections, and the return point comprises a position point where the operation of the operation materials carried by the unmanned equipment is finished;
if the return point is not the flight segment end point, adjusting the operation parameters of the unmanned equipment so as to enable the return point of the current flight path to be the flight segment end point;
and controlling the unmanned equipment to operate according to the adjusted operation parameters and performing return voyage at the re-determined return voyage point.
2. The method of claim 1, wherein determining a return point of a current route of the unmanned aerial device comprises:
and determining a return point of the current route of the unmanned equipment according to a pre-planned route path of the unmanned equipment.
3. The method of claim 1, wherein the operating parameter comprises a first operating width of work material, and wherein determining a return point of a current route of the unmanned aerial device comprises:
acquiring the material quantity and mu usage of the operation materials carried by the unmanned equipment;
determining the working distance of the unmanned equipment according to the material quantity, the mu usage amount and the first working width;
and determining a return point of the current air route according to the operation distance and the air route path of the current air route.
4. The method of claim 3, wherein the adjusting the operating parameters of the unmanned aerial vehicle to make the return point of the current route a segment end point comprises:
determining the segment end point closest to the return point as an updated return point;
and adjusting the first operation width to a second operation width according to the updated position of the backspace point.
5. The unmanned aerial vehicle operation method of claim 4, wherein if the updated return point is a position point before an original return point, the first operation width is increased to obtain a second operation width; and if the updated return point is the position point behind the original return point, reducing the first operation width to obtain a second operation width.
6. The unmanned equipment operation method of claim 4, wherein the adjusting the first operation width to a second operation width based on the updated position of the waypoint comprises:
determining a second operation width according to the updated length of the navigation section where the return point is located, the material quantity carried in the unmanned equipment and the corresponding mu quantity;
and adjusting the first working width to the second working width.
7. The unmanned aerial vehicle operation method according to claim 1, wherein when controlling the unmanned aerial vehicle to perform an operation based on the adjusted operation parameter, the method further comprises:
acquiring the amount of materials currently carried by the unmanned equipment and a navigation position point in real time;
and if the fact that the back-navigation point is not the end point of the navigation section is determined according to the navigation position point, the material amount and the adjusted operation parameters, fine adjustment is carried out on the adjusted operation parameters.
8. Unmanned equipment operation device, its characterized in that includes:
the system comprises a return point determining module, a return point determining module and a return control module, wherein the return point determining module is used for determining a return point of a current route of the unmanned equipment, the route comprises one or more route sections, and the return point comprises a position point of the unmanned equipment where the operation of operation materials carried by the unmanned equipment is finished;
the operation parameter adjusting module is used for adjusting the operation parameters of the unmanned equipment if the return point is not the flight segment end point, so that the return point of the current flight line is the flight segment end point;
and the operation control module is used for controlling the unmanned equipment to operate according to the adjusted operation parameters and return at the re-determined return point.
9. Work apparatus, characterized in that the apparatus comprises: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method of unmanned equipment operation of any of claims 1-7.
10. A storage medium storing computer-executable instructions for performing the method of unmanned equipment operation of any of claims 1-7 when executed by a computer processor.
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