CN114460961A - Unmanned equipment operation route determining method, device, equipment and storage medium - Google Patents
Unmanned equipment operation route determining method, device, equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for determining an operation route of unmanned equipment, wherein the method comprises the following steps: obtaining a sample point in an operation area and a navigation starting point of unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point; determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located; and when the shortest route meets navigation conditions, determining the shortest route as the operation route of the unmanned equipment in the operation area. According to the scheme, high-efficiency and low-power-consumption navigation during operation of the unmanned equipment is realized.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned equipment, in particular to a method, a device, equipment and a storage medium for determining an operation route of the unmanned equipment.
Background
With the development of the unmanned equipment technology, the application field of the unmanned equipment is more and more extensive, for example, the unmanned equipment can automatically fly in an operation area to realize information acquisition of an operation object in the operation area.
In the prior art, when the unmanned device acquires information of an operation object in an operation area, the unmanned device needs to navigate to a plurality of corresponding sample points, and the route planning is mostly a Chinese-character-shaped route or a Chinese-character-shaped route.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining an operation route of an unmanned device, solves the problems of low operation efficiency and high energy consumption of the unmanned device in the prior art, and realizes operation navigation with high efficiency and low power consumption based on the optimized operation route.
In a first aspect, an embodiment of the present invention provides a method for determining an unmanned aerial vehicle operation route, where the method includes:
obtaining a sample point in an operation area and a navigation starting point of unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point;
determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located;
and when the shortest route meets navigation conditions, determining the shortest route as the operation route of the unmanned equipment in the operation area.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle operation route determination apparatus, where the apparatus includes:
the coordinate point acquisition module is used for acquiring a sample point in an operation area and a navigation starting point of the unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point;
the route calculation module is used for determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located;
and the operation route determining module is used for determining the shortest route as the operation route of the unmanned equipment in the operation area when the shortest route meets navigation conditions.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle operation route determination device, where the 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 determining an unmanned aerial vehicle operation route 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 determining an unmanned aerial vehicle working route according to the present invention.
In the embodiment of the invention, the sample point coordinates of the sample points and the starting point coordinates of the navigation starting point are determined by obtaining the sample points in the operation area and the navigation starting point of the unmanned equipment, and then the shortest route of the unmanned equipment is determined according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises the internal route of the area where each sample point is located, and when the shortest route meets navigation conditions, the shortest route is determined as the operation route of the unmanned equipment in the operation area.
Drawings
Fig. 1 is a flowchart of a method for determining an operation route of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is an undirected graph including sample points and navigation origins provided by embodiments of the present invention;
FIG. 3 is a flowchart of a method for determining a shortest route for an unmanned aerial device according to an embodiment of the present invention;
FIG. 4 is a flow chart of another unmanned aerial vehicle operation route determination method provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a determined shortest route according to an embodiment of the present invention;
FIG. 6 is a flow chart of another method for determining a working path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a schematic block diagram of an unmanned aerial vehicle operation route determination apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an unmanned aerial vehicle operation route determination device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly below 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 may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the 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 method for determining the operation route of the unmanned aerial vehicle provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings by specific embodiments and application scenarios thereof.
Fig. 1 is a flowchart of a method for determining an operation route of an unmanned aerial vehicle according to an embodiment of the present invention, where the embodiment can implement route planning of the unmanned aerial vehicle when the unmanned aerial vehicle navigates in an operation area, and the method can 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, obtaining a sample point in a working area and a navigation starting point of unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point.
The operation area is a navigation area when the unmanned equipment navigates. Illustratively, the work area may be an area of a farm, a mountain forest, or the like. The specific operation content of the unmanned equipment in the operation area can be used for carrying out routing inspection monitoring on the operation area, and the unmanned equipment takes the farmland planted with cotton plants as an example, flies above the farmland to determine the growth condition of the cotton plants, so that a relevant basis is provided for subsequent operation.
In one embodiment, in order to perform efficient inspection monitoring on a working area, a plurality of sample points are set in the working area, and the sample points are objects of inspection work of unmanned equipment in the working area, such as image information of the positions of the sample points is acquired by the unmanned equipment to analyze the specific conditions of the sample points. The sample point corresponds to a certain area range, namely, the unmanned equipment starts to collect information to finish inspection monitoring when sailing to the boundary of the area. Optionally, the selection of the sample points in the working area may be performed by determining the number and the positions of the sample points by the user according to actual conditions (such as the terrain of the working area, the crop planting positions in the working area, and the like).
Wherein, unmanned equipment includes unmanned aerial vehicle, unmanned car and unmanned ship etc.. The navigation starting point of the unmanned equipment is the position of a take-off and landing point when the unmanned equipment starts to work and enters the working area.
In one embodiment, the sample point coordinates and the start point coordinates of the voyage start point comprise corresponding spatial coordinates. The coordinates of the sample points can be determined based on a high-definition map used in the sample point selection process, the high-definition map includes spatial coordinates of each pixel point in a display map page, namely, in the sample point selection process, the spatial coordinates of the sample points can be determined according to the pixel point where the selected sample point is located. The determination of the sample point coordinates may also be determined when clicking is performed on an image map drawn based on unmanned equipment shooting measurement, and the image map also includes spatial coordinates of each pixel point in a display map page. In another embodiment, the sample point coordinates may also be sample point coordinates corresponding to the sample point obtained by performing coordinate measurement on the position of the selected sample point when the user or the staff holds the surveying instrument to perform point selection.
In one embodiment, the starting point coordinate of the navigation starting point of the unmanned equipment can be acquired by an RTK or GPS positioning module carried by the unmanned equipment, and if the execution main body is the unmanned equipment, the unmanned equipment can acquire the starting point coordinate and then is used for determining the operation route; if the execution subject is the unmanned equipment which does not perform the current operation, such as a control room server equipment, the unmanned equipment transmits the starting point coordinate back to the server equipment so as to determine the operation route by the server equipment.
Step S102, determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located.
The preset shortest path algorithm may be an exhaustive method, that is, the path of each sample point of all the paths is traversed, so as to select the shortest path from the multiple paths obtained by traversal. The preset shortest path algorithm may also be a greedy algorithm, that is, starting from the coordinates of the starting point, when a next sample point needs to be selected, a sample point with the closest distance is selected as the next sample point until all the sample points are selected, and the generated path is determined to be the shortest path.
Illustratively, fig. 2 is an undirected graph including a sample point and a navigation start point according to an embodiment of the present invention. As shown in FIG. 2, point M is the navigation origin, three points A, B and C are sample points, and the coordinates of the sample points A, B and C are denoted as V { A, B, C }. Optionally, the coordinates of sample points A, B and C are selected as sample point center coordinates when determining the shortest path. The distances to the three sample points A, B and C are calculated respectively according to the starting point coordinates of the navigation starting point, and the distance values are converted into edges in an undirected graph to obtain the graph 2.
Taking fig. 2 as an example, the route and the corresponding path distance calculated by the exhaustive method are respectively: distance D1 (path point: MABCM) ═ 2+3+2+6 ═ 13, distance D2 (path point: MACBM) ═ 2+4+2+4 ═ 12, distance D3 (path point: MBACM) ═ 4+3+4+6 ═ 17, distance D4 (path point: MBCAM) ═ 4+2 ═ 12, distance D5 (path point: mcam) ═ 6+4+3+4 ═ 17, and distance D6 (MCBAM): 6+2+3+2 ═ 13. And selecting the path with the shortest distance as the shortest path, wherein the final result is MACBM or MBCAM. Taking fig. 2 as an example, when a greedy algorithm is used for calculation, starting from the M point, when each sample point is selected, the sample point with the shortest distance is selected, and the shortest path obtained is the MACBM.
In one embodiment, the sample point coordinates include sample point center coordinates and sample point angular coordinates. Taking the area where the sample point is located as a rectangular area as an example, the center of the rectangle is the center coordinate of the sample point, and four corner points of the rectangle are the corner coordinates of the sample point. Fig. 3 is a flowchart of a method for determining a shortest route of an unmanned aerial device according to an embodiment of the present invention, as shown in fig. 3, including:
and S1021, determining a first route of the unmanned equipment according to the sample point center coordinate, the starting point coordinate and a preset shortest path algorithm.
The first route is a shortest route calculated and calculated according to the sample point center coordinate, the starting point coordinate and a preset shortest route, and the specific calculation process of the shortest route is referred to the aforementioned explanation part and is not described herein again.
Step S1022, determining the shortest route of the unmanned equipment according to the sample point angular coordinate of each sample point and the first route.
The first route is a shortest route determined based on the sample point center coordinates of each sample point and the unmanned equipment starting point coordinates. The sample points in the scheme are as explained above, and correspond to a certain area range, and when the unmanned equipment reaches the boundary of the area range, specific operation is started, such as starting a camera to acquire image information. In other words, the scheme needs to reasonably plan the route in the area of the sample point area to obtain the shortest route containing the internal route of the area where each sample point is located. In one embodiment, the internal course of the sample point is determined from the sample point angular coordinates. Optionally, taking the sample point corresponding to the rectangular region as an example, the internal route is a diagonal line of the rectangular region, that is, a connection line of angular coordinates of the sample point of two diagonal lines in the rectangular region is the internal route.
In another embodiment, taking the area corresponding to the sample point as a rectangle for example, it may take another way to determine the internal route. Optionally, if the area of the rectangular region is larger than the preset area, that is, when a diagonal line is adopted as the internal route for the internal route, the unmanned device starts the camera to collect image information, and high-definition recognizable coverage of the whole sample point region cannot be achieved, the route planning is performed by adopting the shortest path principle inside the sample point. The specific preset area size is not limited, and the adaptive adjustment can be carried out according to the actual camera information acquisition capability. Optionally, the planning method of the internal route may be: and determining sample point angular coordinates corresponding to a starting point and an end point in each sample point and an internal route in a preset shape based on a shortest path principle according to the sample point angular coordinates of each sample point and the sample point coordinates of adjacent sample points, wherein the sample point angular coordinates corresponding to the starting point and the end point comprise the adjacent sample point angular coordinates or the sample point angular coordinates in a diagonal relationship. The predetermined shape of the internal course may be a common "bow" shaped course.
And S103, when the shortest route meets navigation conditions, determining the shortest route as the operation route of the unmanned equipment in the operation area.
In one embodiment, when the shortest route is determined, whether the shortest route meets navigation conditions is further determined, and if the shortest route meets the navigation conditions, the shortest route is determined as a working route of the unmanned equipment in the working area. At this time, the unmanned aerial vehicle can navigate along the work route.
Optionally, determining whether the shortest route meets the navigation condition includes determining whether an obstacle exists on the shortest route according to the high-precision map data, and if not, determining that the shortest route meets the navigation condition. Optionally, determining whether the shortest route meets the navigation condition includes determining whether the unmanned device can navigate along the shortest route for one time to complete information acquisition and detection of all sample points on the route, that is, determining whether the unmanned device can have sufficient cruising ability to complete navigation of the shortest route, and if yes, determining that the shortest route meets the navigation condition. And when the shortest route meets the navigation condition, determining the shortest route as the operation route of the unmanned equipment in the operation area.
According to the method, the sample points in the operation area and the navigation starting point of the unmanned equipment are obtained, the sample point coordinates of the sample points and the starting point coordinates of the navigation starting point are determined, and then the shortest route of the unmanned equipment is determined according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises the internal route of the area where each sample point is located, and when the shortest route meets navigation conditions, the shortest route is determined as the operation route of the unmanned equipment in the operation area.
Fig. 4 is a flowchart of another method for determining an operation route of an unmanned aerial vehicle according to an embodiment of the present invention.
The sample point coordinates include sample point center coordinates and sample point angular coordinates, and a specific method for determining the shortest route of the unmanned aerial vehicle according to the sample point angular coordinates of each sample point and the first route is provided, as shown in fig. 4, the method specifically includes:
step S201, obtaining a sample point in a working area and a navigation starting point of unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point.
Step S202, determining a first route of the unmanned equipment according to the sample point center coordinate, the starting point coordinate and a preset shortest path algorithm.
Step S203, determining an internal route of each sample point according to the sample point angular coordinate of each sample point and the sample point coordinate of the adjacent sample point, and determining the shortest route of the unmanned equipment according to the internal route and the first route.
In one embodiment, taking the sample point corresponding to a rectangular area as an example, four corners of the rectangle respectively correspond to one sample point angular coordinate. The method comprises the steps of taking a diagonal line of a rectangular area as a determining mode of an internal route, selecting one of four sample angular coordinates, namely two groups of diagonal sample point angular coordinates, and determining an entry point and an exit point of the unmanned equipment in the selected group of sample point angular coordinates, wherein the entry point is the position of the unmanned equipment when the unmanned equipment enters the area where the sample point is located, and the exit point is the position of the unmanned equipment when the unmanned equipment exits the area where the sample point is located.
Specifically, when the internal route of each sample point is determined according to the sample point angular coordinate of each sample point and the sample point coordinates of adjacent sample points, when the entry point of the first sample point is determined, the sample point angular coordinate closest to the starting point coordinate of the unmanned device is used as the entry point, and the corresponding sample angular coordinate opposite to the entry point is used as the exit point. After the entry point and the exit point of the current sample point are determined, the entry point of the next sample point is further determined, at this time, the angular coordinate of the next sample point closest to the exit point of the current sample point is selected as the entry point of the next sample point, and so on. Fig. 5 is a schematic diagram of a determined shortest route according to an embodiment of the present invention, as shown in fig. 5, a navigation starting point is M, points that sequentially pass through are a sample point a, a sample point C, and a sample point B, and the sample point a, the sample point C, and the sample point B are rectangular regions including angular coordinates of 4 sample points. The entry point of the sample point A is the sample point angular coordinate position of the lower left corner, the exit point is the sample point angular coordinate position of the upper right corner, the sample point angular coordinate of the sample point C closest to the sample point angular coordinate position of the exit point is the sample point angular coordinate position of the upper left corner, and the shortest route comprising the internal route and navigated by the navigation starting point M through the sample point A, the sample point B and the sample point C is obtained by analogy in sequence.
And S204, when the shortest route meets navigation conditions, determining the shortest route as the operation route of the unmanned equipment in the operation area.
According to the scheme, in the process of determining the operation route of the unmanned equipment, the internal route of each sample point is determined according to the angular coordinate of the sample point of each sample point and the coordinates of the sample points of the adjacent sample points, so that the shortest route is obtained, the determined route is high in accuracy and is fit with the actual operation condition.
Fig. 6 is a flowchart of another method for determining an operation route of an unmanned aerial vehicle according to an embodiment of the present invention. A specific method for determining whether the shortest route meets the navigation condition is provided, as shown in fig. 4, specifically including:
step S301, obtaining a sample point in a working area and a navigation starting point of the unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point.
Step S302, determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located.
Step S303, determining an internal air route and an external air route of the unmanned equipment according to the shortest air route, and respectively determining the internal air route time of the unmanned equipment in the internal air route and the external air route time of the unmanned equipment in the external air route.
In one embodiment, taking the sample point corresponding to the rectangular area as an example, the unmanned equipment starts information acquisition in the rectangular area, and accordingly, the route sailing in the sample point is recorded as an internal route, and the route sailing when the unmanned equipment sails to the outside of the sample point area is recorded as an external route.
Wherein the external route further comprises the external route between the sample points and the external route from the navigation starting point to the first sample point. In one embodiment, the way in which the travel time is calculated is different from the way in which the travel time is calculated when the unmanned device is on the outside airline, since the unmanned device needs to perform the corresponding work task when on the inside airline. Therefore, the calculation is respectively carried out to obtain the navigation time of the shortest route.
And S304, determining the navigation time of the unmanned equipment according to the internal navigation time and the external navigation time.
The navigation time of the unmanned equipment in the shortest route comprises the sum of the inner navigation time and the outer navigation time, and the outer navigation time comprises the outer navigation time between the sample points and the route time from the starting point of the route to the first sample point. Since the taking-off and landing processes of the unmanned device are involved in the process of the unmanned device navigating from the starting point of the flight path to the first sample point, the navigation time of the unmanned device is different from the external navigation time between the sample points, and therefore the unmanned device is subjected to independent statistics.
In one embodiment, the specific calculation manner of the internal voyage time and the external voyage time may be: and respectively counting the speed of the unmanned equipment during internal navigation and the speed of the unmanned equipment during external navigation, and respectively calculating the internal navigation time and the external navigation time according to the navigation lengths of the internal route and the external route.
And S305, when the navigation time of the unmanned equipment along the shortest route is less than or equal to the maximum cruising time of the unmanned equipment, determining the shortest route as the operation route of the unmanned equipment in the operation area.
The maximum duration time can be determined according to specific parameters of the unmanned equipment during navigation, such as the unit time power consumption of the unmanned equipment executing the current shortest route operation task, and the maximum duration time of the unmanned equipment is obtained by dividing the total stored electric quantity of the unmanned equipment by the unit time power consumption.
According to the method, in the process of determining the operation route of the unmanned equipment, whether the shortest route meets the navigation condition is further judged after the shortest route is determined, and in the process of determining whether the specific course condition is met, the total navigation time is obtained according to the navigation time of the internal route and the external route in the sample point area in the shortest route and compared with the maximum cruising time, so that the availability of the determined operation route of the unmanned equipment is ensured.
On the basis of the technical scheme, if the navigation time of the unmanned equipment along the shortest route is longer than the maximum endurance time of the unmanned equipment, the method further comprises the following steps: and eliminating the sample points in the operation area, and recalculating the shortest route of the unmanned equipment. Namely, after deleting one or more sample points in the working area, planning the shortest route again, and optionally, removing the sample points in the working area, including: and determining a sample point which is farthest from the sailing starting point in the operation area, and eliminating the farthest sample point. And if the shortest route obtained after the elimination still does not meet the navigation condition, carrying out secondary elimination and the like to finally obtain the shortest route meeting the navigation condition, and determining the shortest route as the operation route of the unmanned equipment.
Fig. 7 is a schematic block diagram of an apparatus for determining an operation route of an unmanned aerial vehicle according to an embodiment of the present invention, where the apparatus is configured to execute the method for determining an operation route of an unmanned aerial vehicle described above, and has corresponding functional blocks and beneficial effects of the execution method. As shown in fig. 7, the system specifically includes: a coordinate point acquisition module 101, a course calculation module 102, and a work route determination module, wherein,
a coordinate point obtaining module 101, configured to obtain a sample point in an operation area and a navigation starting point of an unmanned aerial vehicle, and determine a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point;
the route calculation module 102 is configured to determine a shortest route of the unmanned device according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, where the shortest route includes an internal route of an area where each sample point is located;
and the operation route determining module 103 is used for determining the shortest route as the operation route of the unmanned equipment in the operation area when the shortest route meets navigation conditions.
According to the scheme, the sample points in the operation area and the navigation starting point of the unmanned equipment are obtained, after the sample point coordinates of the sample points and the starting point coordinates of the navigation starting point are determined, the shortest route of the unmanned equipment is determined according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of the area where each sample point is located, and when the shortest route meets navigation conditions, the shortest route is determined to be an operation route of the unmanned equipment in the operation area.
In a possible embodiment, the sample point coordinates include a sample point center coordinate and a sample point angle coordinate, and the route calculation module 102 is specifically configured to:
determining a first route of the unmanned equipment according to the sample point center coordinate, the starting point coordinate and a preset shortest path algorithm;
and determining the shortest route of the unmanned equipment according to the sample point angular coordinate of each sample point and the first route.
In one possible embodiment, the route calculation module 102 is specifically configured to:
determining an internal route of each sample point according to the sample point angular coordinate of each sample point and the sample point coordinates of adjacent sample points;
and determining the shortest route of the unmanned equipment according to the internal route and the first route.
In one possible embodiment, the route calculation module 102 is specifically configured to:
according to the sample point angular coordinate of each sample point and the sample point coordinates of adjacent sample points, based on the shortest path principle, the sample point angular coordinates corresponding to the starting point and the ending point in each sample point and the internal route of the preset shape are determined, wherein the sample point angular coordinates corresponding to the starting point and the ending point comprise the adjacent sample point angular coordinates or the sample point angular coordinates in a diagonal relation.
In one possible embodiment, the shortest route satisfies a navigation condition including:
the navigation time of the unmanned equipment along the shortest route is less than or equal to the maximum endurance time of the unmanned equipment.
In one possible embodiment, the work route determination module 103 is further configured to:
before determining whether the shortest route meets navigation conditions, determining an internal route and an external route of the unmanned equipment according to the shortest route;
respectively determining the internal navigation time of the unmanned equipment on the internal route and the external navigation time of the unmanned equipment on the external route;
and determining the navigation time of the unmanned equipment according to the internal navigation time and the external navigation time.
In one possible embodiment, the work route determination module 103 is further configured to:
and if the navigation time of the unmanned equipment along the shortest route is longer than the maximum cruising time of the unmanned equipment, removing the sample points in the operation area, and recalculating the shortest route of the unmanned equipment.
In one possible embodiment, the work route determination module 103 is specifically configured to:
and determining a sample point which is farthest from the sailing starting point in the operation area, and removing the farthest sample point.
Fig. 8 is a schematic structural diagram of an application interface launching device according to an embodiment of the present invention, as shown in fig. 8, 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. 8; 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 fig. 8 illustrates the connection by a bus as an example. 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, when executed by a computer processor, for performing a method for unmanned aerial device work route determination, the method comprising:
obtaining a sample point in an operation area and a navigation starting point of unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point;
determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located;
and when the shortest route meets navigation conditions, determining the shortest route as the operation route of the unmanned equipment in the operation area.
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 invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. The unmanned aerial vehicle operation route determination method is characterized by comprising the following steps:
obtaining a sample point in an operation area and a navigation starting point of unmanned equipment, and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point;
determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located;
and when the shortest route meets navigation conditions, determining the shortest route as the operation route of the unmanned equipment in the operation area.
2. The method for determining the unmanned aerial vehicle operation route according to claim 1, wherein the sample point coordinates comprise sample point center coordinates and sample point angle coordinates, and the determining the shortest route of the unmanned aerial vehicle according to the sample point coordinates, the start point coordinates and a preset shortest path algorithm comprises:
determining a first route of the unmanned equipment according to the sample point center coordinate, the starting point coordinate and a preset shortest path algorithm;
and determining the shortest route of the unmanned equipment according to the sample point angular coordinate of each sample point and the first route.
3. The method for determining the unmanned aerial vehicle work route according to claim 2, wherein the determining the shortest route of the unmanned aerial vehicle according to the sample point angular coordinate of each sample point and the first route comprises:
determining an internal route of each sample point according to the sample point angular coordinate of each sample point and the sample point coordinates of adjacent sample points;
and determining the shortest route of the unmanned equipment according to the internal route and the first route.
4. The method for determining the unmanned aerial vehicle working route according to claim 3, wherein the determining the internal route of each sample point according to the sample point angular coordinate of each sample point and the sample point coordinate of the adjacent sample point comprises:
according to the sample point angular coordinate of each sample point and the sample point coordinates of adjacent sample points, based on the shortest path principle, the sample point angular coordinates corresponding to the starting point and the ending point in each sample point and the internal route of the preset shape are determined, wherein the sample point angular coordinates corresponding to the starting point and the ending point comprise the adjacent sample point angular coordinates or the sample point angular coordinates in a diagonal relation.
5. The unmanned aerial device work route determination method of claim 1, wherein the shortest route satisfies a navigation condition, comprising:
the navigation time of the unmanned equipment along the shortest route is less than or equal to the maximum endurance time of the unmanned equipment.
6. The unmanned aerial device work route determination method of claim 5, further comprising, prior to determining whether a shortest route satisfies a voyage condition:
determining an internal route and an external route of the unmanned equipment according to the shortest route;
respectively determining the internal navigation time of the unmanned equipment on the internal route and the external navigation time of the unmanned equipment on the external route;
and determining the navigation time of the unmanned equipment according to the internal navigation time and the external navigation time.
7. The method of claim 5, further comprising, if the time of flight of the drone along the shortest route is greater than the maximum time of flight of the drone:
and eliminating the sample points in the operation area, and recalculating the shortest route of the unmanned equipment.
8. The unmanned aerial vehicle work route determination method of claim 7, wherein the culling sample points in the work area comprises:
and determining a sample point which is farthest from the sailing starting point in the operation area, and removing the farthest sample point.
9. An unmanned aerial vehicle operation route determination device is characterized by comprising:
the coordinate point acquisition module is used for acquiring a sample point in an operation area and a navigation starting point of the unmanned equipment and determining a sample point coordinate of the sample point and a starting point coordinate of the navigation starting point;
the route calculation module is used for determining the shortest route of the unmanned equipment according to the sample point coordinates, the starting point coordinates and a preset shortest path algorithm, wherein the shortest route comprises an internal route of an area where each sample point is located;
and the operation route determining module is used for determining the shortest route as the operation route of the unmanned equipment in the operation area when the shortest route meets navigation conditions.
10. An unmanned equipment work route determination device, the device comprising: one or more processors; a storage device to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the unmanned aerial vehicle work route determination method of any of claims 1-8.
11. A storage medium storing computer-executable instructions for performing the unmanned aerial device work route determination method of any of claims 1-8 when executed by a computer processor.
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