CN114746827A

CN114746827A - Unmanned aerial vehicle air route planning method, device and equipment and unmanned aerial vehicle

Info

Publication number: CN114746827A
Application number: CN202080076021.5A
Authority: CN
Inventors: 邹亭; 王璐; 贾向华; 闫光
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2022-07-12
Also published as: WO2022095062A1

Abstract

A method and a device for planning routes of an unmanned aerial vehicle, the unmanned aerial vehicle, terminal equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring a working area to be sprayed (S101); determining a first flight path according to the operation area (S102); determining a first work area and remaining second work areas located at edges of the work area (S103); determining a second flight path according to the first work area (S104); a spray course segment and a non-spray course segment are determined from the first flight path according to the second work area (S105). The method improves spraying effect.

Description

Unmanned aerial vehicle air route planning method, device and equipment and unmanned aerial vehicle

Technical Field

The application relates to the technical field of route planning, in particular to a route planning method, a route planning device and route planning equipment for an unmanned aerial vehicle and the unmanned aerial vehicle.

Background

Along with the development of unmanned aerial vehicle technique, more and more users begin to adopt unmanned aerial vehicle to carry out the plant protection operation, especially utilize unmanned aerial vehicle to carry out pesticide and spray and chemical fertilizer and spray etc. have little, the pesticide high-usage of harm and reduce advantages such as intensity of labour to crops. At present, unmanned aerial vehicle sprays the in-process of operation, when unmanned aerial vehicle is about to reach the edge of operation region, need reduce airspeed, in addition, unmanned aerial vehicle need accelerate the flight when keeping away from the edge of operation region. Consequently, because unmanned aerial vehicle airspeed's change for unmanned aerial vehicle can't be effectual evenly sprays the edge in operation area, and it is not good to spray the effect.

Disclosure of Invention

Based on this, the embodiment of the application provides a route planning method, device and equipment for an unmanned aerial vehicle and the unmanned aerial vehicle, and aims to improve the spraying effect of the unmanned aerial vehicle.

In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle's route planning method, unmanned aerial vehicle is including being used for splendid attire and the sprinkler who sprays the material, its characterized in that includes:

acquiring an operation area to be sprayed;

determining a first flight path of the unmanned aerial vehicle according to the operation area;

determining a first working area located at an edge of the working area and a second working area other than the first working area in the working area;

determining a second flight path of the unmanned aerial vehicle according to the first operation area, wherein the second flight path comprises a second main flight line segment for spraying operation executed by the spraying device;

and determining a spraying route segment for spraying operation and a non-spraying route segment for not executing spraying operation of the spraying device from the first flight route according to the second operation area, wherein at least one part of the non-spraying route segment is positioned in the first operation area.

In a second aspect, an embodiment of the present application further provides a route planning device for an unmanned aerial vehicle, where the unmanned aerial vehicle includes a spraying device for containing and spraying materials, and the route planning device includes a memory and a processor;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

acquiring an operation area to be sprayed;

In a third aspect, an embodiment of the present application further provides an unmanned aerial vehicle, including:

a body;

the power system is arranged on the machine body and used for providing flight power for the unmanned aerial vehicle;

the spraying device is arranged on the machine body and used for containing and spraying materials;

an air route planning apparatus as described above.

In a fourth aspect, an embodiment of the present application further provides a terminal device, where the terminal device includes the route planning apparatus as described above.

In a fifth aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the steps of the route planning method for a drone as described above.

The embodiment of the application provides a route planning method, a device, equipment, an unmanned aerial vehicle and a computer readable storage medium of the unmanned aerial vehicle, wherein a first flight route of the unmanned aerial vehicle is determined according to an operation area to be sprayed, a first operation area positioned at the edge of the operation area and a second operation area except the first operation area are determined in the operation area, then a second flight route of the unmanned aerial vehicle is determined according to the first operation area, the second flight route comprises a second main route section of spraying operation executed by a spraying device, a spraying route section of spraying operation executed by the spraying device and a non-spraying route section of non-executing spraying operation are determined from the first flight route according to the second operation area, so that the unmanned aerial vehicle can effectively and uniformly spray the edge of the operation area when the spraying operation is executed according to the first flight route and the second flight route, greatly improving the spraying effect.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a scenario for implementing a route planning method for an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 2 is a flow chart illustrating steps of a method for planning routes according to an embodiment of the present application;

FIG. 3 is a schematic view of a work area to be sprayed in an embodiment of the present application;

FIG. 4 is another schematic view of a work area to be sprayed in an embodiment of the present application;

FIG. 5 is another schematic view of a work area to be sprayed in an embodiment of the present application;

fig. 6 is a schematic view of a first flight path of a drone within a work area in an embodiment of the present application;

fig. 7 is another schematic view of a first flight path of a drone within a work area in an embodiment of the present application;

fig. 8 is another schematic view of a first flight path of a drone within a work area in an embodiment of the present application;

FIG. 9 is a schematic view of the first operating area and the second operating area in the embodiment of the present application;

FIG. 10 is another schematic view of the first operation area and the second operation area in the embodiment of the present application

FIG. 11 is a schematic view of a spray flight and a non-spray flight in an embodiment of the present application;

FIG. 12 is a schematic view of the first end leg segment, the second end leg segment, and the middle leg segment in an embodiment of the present application;

FIG. 13 is a schematic view of a first location point and a second location point in an embodiment of the present application;

FIG. 14 is a schematic view of a second flight path in the embodiment of the present application;

FIG. 15 is another schematic illustration of a second flight path in an embodiment of the present application;

FIG. 16 is another schematic illustration of a second flight path in an embodiment of the present application;

FIG. 17 is a schematic view of a first flight path and a second flight path in an embodiment of the present application;

fig. 18 is a schematic block diagram of a structure of an air route planning device of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 19 is a schematic block diagram of a structure of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 20 is a schematic block diagram of a structure of a terminal device according to an embodiment of the present application.

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, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Along with the development of unmanned aerial vehicle technique, more and more users begin to adopt unmanned aerial vehicle to carry out the plant protection operation, especially utilize unmanned aerial vehicle to carry out pesticide and spray and chemical fertilizer and spray etc. have little, the pesticide high-usage of harm and reduce advantages such as intensity of labour to crops. When the unmanned aerial vehicle is about to reach the edge of the operation area, the flying speed needs to be reduced, and in addition, when the unmanned aerial vehicle is far away from the edge of the operation area, the unmanned aerial vehicle needs to fly at an accelerated speed. Consequently, because unmanned aerial vehicle airspeed's change for unmanned aerial vehicle can't be effectual evenly sprays the edge in operation area, and it is not good to spray the effect.

In order to solve the above problems, embodiments of the present application provide a method, an apparatus, a device, an unmanned aerial vehicle, and a computer-readable storage medium for planning a flight path of an unmanned aerial vehicle, by determining a first flight path of the unmanned aerial vehicle according to a work area to be sprayed, determining a first work area located at an edge of the work area and a second work area other than the first work area in the work area, and then determining a second flight path of the unmanned aerial vehicle according to the first work area, the second flight path including a second main flight path segment where a spraying device performs a spraying work, and determining a spraying flight path segment where the spraying device performs a spraying work and a non-spraying flight path segment where the spraying work is not performed from the first flight path according to the second work area, so that the unmanned aerial vehicle can effectively and uniformly spray the edge of the work area when performing the spraying work according to the first flight path and the second flight path, greatly improving the spraying effect.

Referring to fig. 1, fig. 1 is a schematic view of a scene for implementing a route planning method for an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, this scene includes unmanned aerial vehicle 100 and terminal equipment 200, terminal equipment 200 and unmanned aerial vehicle 100 communication connection, terminal equipment 200 is used for controlling unmanned aerial vehicle 100 to fly, unmanned aerial vehicle 100 includes organism 110, locate sprinkler 120 on organism 110 and locate the driving system 130 on organism 110, this sprinkler 120 is used for splendid attire and sprays the material, this material can be the pesticide, liquid such as water, this driving system 130 is used for providing flight power for unmanned aerial vehicle 100, in order to drive sprinkler 120 to move different positions or different angles in order to spray the operation in presetting the region.

In an embodiment, the spraying device 120 includes a first nozzle assembly 121, a second nozzle assembly 122, a pressure regulating valve 123, a liquid guiding pipe 124 and a liquid supply tank 125, the liquid supply tank 125 is used for providing materials such as pesticide and water, the pressure regulating valve 123 is disposed on the first nozzle assembly 121 and the second nozzle assembly 122, the first nozzle assembly 121 and the second nozzle assembly 122 are used for realizing spraying operation, the pressure regulating valve 123 is used for adjusting nozzle pressures of the first nozzle assembly 121 and the second nozzle assembly 122, so as to adjust a spraying range of the unmanned aerial vehicle 100, and the liquid guiding pipe 124 is used for guiding liquid in the liquid supply tank 125 into the first nozzle assembly 121 and the second nozzle assembly 122. The number of the first showerhead assembly 121 and the second showerhead assembly 122 is at least one, and may be one, two, three, four or more, which is not specifically limited in this embodiment of the present application.

In an embodiment, the drone 100 may have one or more powered systems 130, all of which powered systems 130 may be of the same type. Alternatively, one or more of the powered systems 130 may be of a different type. The power system 130 may be mounted on the body 110 of the drone 100 by suitable means, such as by support elements (e.g., drive shafts). The power system 130 may be mounted at any suitable location on the drone 100, such as the top, bottom, front, back, sides, or any combination thereof.

In an embodiment, the power system 130 enables the drone 100 to take off from the ground vertically, or land on the ground vertically, without requiring any horizontal movement of the drone 100 (e.g., without requiring taxiing on a runway). Optionally, the power system 130 may allow the drone 100 to hover at a preset position and/or direction in the air. One or more of the power systems 130 may be controlled independently of the other power systems 130. Alternatively, one or more of the power systems 130 may be controlled simultaneously. For example, the drone 100 may have multiple horizontally oriented power systems 130 to track the lift and/or thrust of the target. The horizontally oriented power system 130 may be actuated to provide the capability for the drone 100 to take off vertically, land vertically, hover.

In one embodiment, one or more of the horizontally oriented power systems 130 may rotate in a clockwise direction while one or more other of the horizontally oriented power systems may rotate in a counter-clockwise direction. For example, the number of clockwise rotating power systems 130 is the same as the number of counterclockwise rotating power systems 130. The rate of rotation of each of the horizontally oriented power systems 130 can be independently varied to effect each power system induced lifting and/or pushing operation to adjust the spatial orientation, velocity, and/or acceleration (e.g., rotation and translation with respect to up to three degrees of freedom) of the drone 100.

Among them, the terminal device 200 may include but is not limited to: a smartphone/cell phone, a tablet, a Personal Digital Assistant (PDA), a desktop computer, a media content player, a video game station/system, a virtual reality system, an augmented reality system, a wearable device (e.g., a watch, glasses, gloves, headwear (e.g., a hat, a helmet, a virtual reality headset, an augmented reality headset, a head-mounted device (HMD), a headband), a pendant, an armband, a leg loop, a shoe, a vest), a gesture recognition device, a microphone, any electronic device capable of providing or rendering image data, or any other type of device. The terminal device 200 may be a hand-held terminal, and the terminal device 200 may be portable. The terminal device 200 may be carried by a human user. In some cases, the terminal device 200 may be remote from a human user, and the user may control the terminal device 200 using wireless and/or wired communication.

In one embodiment, the drone 100 further comprises route planning means for determining a first flight route of the drone 100 as a function of the work area to be sprayed, and determines, in the work area, a first work area located at an edge of the work area and a second work area other than the first work area, and then determines a second flight path of the drone 100 from the first work area, the second flight path includes a second main flight path segment where the spraying device 120 performs the spraying work, and determines a spraying flight path segment where the spraying device 120 performs the spraying work and a non-spraying flight path segment where the spraying work is not performed from the first flight path segment according to the second work area, such that when the drone 100 is performing a spraying operation in accordance with the first flight path and the second flight path, the edge of the operation area can be effectively and uniformly sprayed, and the spraying effect is greatly improved.

In one embodiment, the terminal device includes a route planning means for determining a first flight route for the drone 100 as a function of the work area to be sprayed, and determines, in the work area, a first work area located at an edge of the work area and a second work area other than the first work area, and then determines a second flight path of the drone 100 from the first work area, the second flight path includes a second main flight path for the spraying device 120 to perform the spraying work, and determines a spraying flight path for the spraying device 120 to perform the spraying work and a non-spraying flight path for not performing the spraying work from the first flight path according to the second work area, such that when the drone 100 is performing a spraying operation in accordance with the first flight path and the second flight path, the edge of the operation area can be effectively and uniformly sprayed, and the spraying effect is greatly improved.

Hereinafter, the route planning method provided by the embodiment of the present application will be described in detail with reference to the scenario in fig. 1. It should be noted that the scenario in fig. 1 is only used for explaining the route planning method provided in the embodiment of the present application, and does not constitute a limitation on an application scenario of the route planning method provided in the embodiment of the present application.

Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a method for planning routes of an unmanned aerial vehicle according to an embodiment of the present application. The flight path planning method is used for planning the flight path of the unmanned aerial vehicle, so that when the unmanned aerial vehicle performs spraying operation according to the flight path, the edge of an operation area can be effectively and uniformly sprayed, and the spraying effect is improved.

As shown in fig. 2, the route planning method includes steps S101 to S105.

And S101, acquiring a work area to be sprayed.

The operation area to be sprayed may be a closed area, or the operation area to be sprayed may also be an open area, which is not specifically limited in this application embodiment. Exemplarily, at least three boundary waypoints are determined, and the at least three boundary waypoints are sequentially connected in a clockwise direction or a counterclockwise direction to obtain an operation area to be sprayed. Wherein, at least three boundary waypoints can be determined by the user controlling the unmanned aerial vehicle to fly on the boundary of the land parcel through the terminal equipment. Illustratively, as shown in fig. 3, the boundary waypoints determined by the user controlling the drone to fly on the boundary of the parcel through the terminal device include the boundary waypoint 11, the boundary waypoint 12, the boundary waypoint 13 and the boundary waypoint 14, so that connecting the boundary waypoint 11, the boundary waypoint 12, the boundary waypoint 13 and the boundary waypoint 14 in sequence can obtain a closed working area to be sprayed.

In one embodiment, a first reference point and a first reference direction corresponding to the first reference point are determined; determining a second reference point and a second reference direction corresponding to the second reference point; an area bounded by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction is determined as the work area. The first reference point, the first reference direction, the second reference point and the second reference direction can be determined by a user controlling the unmanned aerial vehicle to fly over the land through the terminal device.

Illustratively, controlling the unmanned aerial vehicle to fly to a boundary point of the plot, and adjusting the course angle of the unmanned aerial vehicle until the aircraft nose reference line of the unmanned aerial vehicle is aligned with the boundary of the plot; determining a current position point of the unmanned aerial vehicle as a first reference point and a current course angle of the unmanned aerial vehicle as a first reference direction in response to a triggering operation of a reference point setting button in a course planning page displayed by a terminal device by a user; similarly, controlling the unmanned aerial vehicle to fly to another boundary point of the plot, and adjusting the course angle of the unmanned aerial vehicle until the aircraft nose reference line of the unmanned aerial vehicle is aligned with the boundary of the plot; and determining the current position point of the unmanned aerial vehicle as a second reference point and determining the current course angle of the unmanned aerial vehicle as a second reference direction in response to the triggering operation of a reference point setting button in a route planning page displayed by the terminal equipment by a user.

For example, as shown in fig. 4, a reference line between the first reference point 15 and the second reference point 16 is a reference line 21, a reference line extending from the first reference point 15 in the first reference direction is a reference line 22, and a reference line extending from the second reference point 16 in the second reference direction is a reference line 23, and thus, an open area bounded by the reference line 21, the reference line 22, and the reference line 23 is determined as a working area to be sprayed. As shown in fig. 5, a reference line between the first reference point 15 and the second reference point 16 is a reference line 24, a reference line extending from the first reference point 15 in the first reference direction is a reference line 25, a reference line extending from the second reference point 16 in the second reference direction is a reference line 26, and a closed area bounded by the reference line 24, the reference line 25, and the reference line 26 is determined as a working area to be sprayed.

And S102, determining a first flight path of the unmanned aerial vehicle according to the operation area.

The first flight route can be an arched flight route, the first flight route comprises a plurality of first main route segments, the first main route segments are parallel to each other, the first flight route further comprises a first connecting route segment, the first connecting route segment is used for connecting adjacent first main route segments, and the first connecting route segment can be located in the operation area and can also coincide with the boundary of the operation area. Wherein the first main route segment is a straight line. Illustratively, as shown in fig. 6, the first flight path includes a start waypoint 31 and an end waypoint 32, the start waypoint 31 and the end waypoint 32 include 9 first main route segments 33 and 8 first connecting route segments 34 therebetween, the 9 first main route segments 33 are parallel to each other, the first connecting route segments 34 are used for connecting adjacent first main route segments 33, the first main route segments 33 are located in the operation area, and the first connecting route segments 34 are located in the operation area or on the boundary of the operation area.

In one embodiment, the first flight path may also be a dog-leg path. The first flight path comprises a plurality of first main flight path segments, and adjacent first main flight path segments in the plurality of first main flight path segments intersect. Illustratively, as shown in fig. 7, the first flight path includes a start waypoint 35 and an end waypoint 36, the start waypoint 35 and the end waypoint 36 include 9 first main route segments 37 therebetween, adjacent ones 37 of the 9 first main route segments 37 intersect, and the first main route segments 37 are located within the work area.

In one embodiment, for an open work area, as shown in fig. 8, the first flight path includes a start waypoint 38 along which the drone may fly until the drone receives no indication of the user to stop the flight, in which case the specific location of the end waypoint may be determined by the user. The first flight path may be determined from the first reference point 15, the second reference point 16, a first reference direction corresponding to the first reference point, and a second reference direction corresponding to the second reference point. The first flight path includes a plurality of first primary path segments, wherein the first primary path may be parallel or non-parallel to a reference line between the first reference point and the second reference point. Here schematically illustrated in parallel. The first flight path further includes a first connecting line segment connecting a plurality of first main line segments, wherein the number of the first connecting line segments may be plural, and wherein the plurality of first connecting line segments may include a first connecting line segment parallel to a reference line extending from the first reference point in the first reference direction and a first connecting line segment parallel to a reference line extending from the second reference point in the second reference direction. Further, in some cases, a first connecting leg parallel to a reference line extending from the first reference point along the first reference direction may be on the reference line, and a first connecting leg parallel to a reference line extending from the second reference point along the second reference direction may be on the reference line, in some cases, the first connecting leg being located within the working area. Here schematically illustrated with the first connecting course segment located within said working area, the first main course segment of the first flight path comprising the starting course point 38 is located on the reference line 21 between said first reference point 15 and said second reference point 16. The first flight path includes a starting waypoint 38. Wherein the spraying range is the spraying range of the spraying device, wherein the spraying range can indicate the distance which can be reached by the material sprayed in a certain direction by the spraying device.

And step S103, determining a first work area located at the edge of the work area and a second work area except the first work area in the work area.

In one embodiment, a spraying range of a spraying device is obtained; and determining a first working area located at the edge of the working area in the working area according to the spraying range. Wherein the boundary of the first working area comprises a first boundary segment and a second boundary segment parallel to the first boundary segment, the boundary of the working area comprises the first boundary segment, and the spraying range is used for determining the distance between the first boundary segment and the second boundary segment. Further, the distance between the first boundary segment and the second boundary segment is the spraying range of the spraying device.

In one embodiment, the first work area may surround the second work area, or the first work area may partially surround the second work area, the number of the first work areas is plural, and the plural first work areas are not connected. Illustratively, as shown in fig. 9, the working area is an area surrounded by a first boundary segment 41 between the boundary waypoint 11 and the boundary waypoint 12, a first boundary segment 42 between the boundary waypoint 12 and the boundary waypoint 13, a first boundary segment 43 between the boundary waypoint 13 and the boundary waypoint 14, and a first boundary segment 44 between the boundary waypoint 11 and the boundary waypoint 14. In some embodiments, the first boundary segment 41 is parallel to the second boundary segment 45, the first boundary segment 42 is parallel to the second boundary segment 46, the first boundary segment 43 is parallel to the second boundary segment 47, and the first boundary segment 44 is parallel to the second boundary segment 48, such that the area between the first boundary segment 41, the first boundary segment 42, the first boundary segment 43, the first boundary segment 44, the second boundary segment 45, the second boundary segment 46, the second boundary segment 47, and the second boundary segment 48 is a first working area a, and the area between the second boundary segment 45, the second boundary segment 46, the second boundary segment 47, and the second boundary segment 48 is a second working area, in which case the first working area a surrounds the second working area B.

For example, a first flight path of the unmanned aerial vehicle in the open working area is shown in fig. 10, and after receiving the instruction information of stopping flight from the user, the unmanned aerial vehicle may determine the ending waypoint 39 according to the time of the received instruction information of stopping flight. The first work area includes a first work area a1 and a first work area a2, the first work area a1 and the first work area a2 are not in communication, the first work area a1 is an area between the reference line 22 (first boundary segment) and the second boundary segment 52, the first work area a2 is an area between the reference line 23 (first boundary segment) and the second boundary segment 53, and the second work area B is an area bounded by the reference line 21, the reference line 22, the first primary route segment 51, and the reference line 23, at which time the first work area a1 and the first work area a2 partially surround the second work area B, and the distance between the reference line 22 and the second boundary segment 52 and the distance between the reference line 23 and the second boundary segment 53 are half of the spray range or the spray range.

And step S104, determining a spraying route segment for spraying operation executed by the spraying device and a non-spraying route segment for not executing spraying operation from the first flight route according to the second operation area, wherein at least one part of the non-spraying route segment is positioned in the first operation area.

It is right at unmanned aerial vehicle during the operation is sprayed in the operation region, unmanned aerial vehicle will follow first flight route flight, and unmanned aerial vehicle is in when spraying on the flight segment, need control sprinkler execution sprays the operation, and unmanned aerial vehicle is in when non-spraying on the flight segment, need control sprinkler does not carry out and sprays the operation.

For example, a flight path segment in the first flight path located in the second work area is determined as a spraying flight path segment; and determining a non-spraying flight path segment from the flight path segment outside the second work area in the first flight path. For example, as shown in fig. 11, a route segment 54 (black route segment) located in the second work area in the first flight route is a spray route segment, and a route segment 55 and a route segment 56 (white route segment) located outside the second work area in the first flight route are non-spray route segments.

In an embodiment, the spraying route segment is a route segment for the unmanned aerial vehicle to fly at a constant speed, and the non-spraying route segment includes a route segment for the unmanned aerial vehicle to fly at an accelerated and/or decelerated speed. Unmanned aerial vehicle sprays the in-process of operation according to first flight route execution, because unmanned aerial vehicle sprays the flight of line section acceleration and/or deceleration at the non-for unmanned aerial vehicle can spray the flight at the uniform velocity of line section, guarantees the uniformity of spraying the scope, can carry out even spraying to the edge in operation area effectively, can effectual improvement spray the effect.

In one embodiment, the first flight path comprises a plurality of first main flight segments, the non-spraying flight path segments comprise first end flight segments at the ends of the first main flight segments and second end flight segments remote from the first end flight segments, and the spraying flight path segments comprise intermediate flight segments between the first end flight segments and the second end flight segments. In some cases, the non-spraying course segment also includes a first connecting course segment, as shown in FIG. 11, the course segment 56 being the first connecting course segment. As shown in fig. 12, the first flight path includes 9 first main flight line segments, the first end, second end and middle flight line segments of each of the first main flight line segments are respectively a flight line segment 61, a flight line segment 62 and a flight line segment 63, and the non-spraying flight line segments include a flight line segment 61 and a flight line segment 62 of each of the first main flight line segments, and the spraying flight line segment includes a flight line segment 63 of each of the first main flight line segments.

In one embodiment, the spraying range of the unmanned aerial vehicle is obtained; and determining a first end segment, a second end segment and a middle segment in the first main segment according to the spraying range and the second operation area. Wherein, the mode of confirming first end segment, second end segment and middle segment in first main segment according to this spraying scope and second operation region can be: determining a first position point at which the spraying device starts to execute the spraying operation and a second position point at which the spraying operation is stopped on the first main route segment according to the spraying range and the second operation area; determining a route section between the starting point and the first position point of the first main route section as a first end route section; determining a route section between the terminal point and the second position point of the first main route section as a second end route section; and determining the route section between the first position point and the second position point as an intermediate route section.

Wherein, first position point is the in-process of unmanned aerial vehicle along the starting point of first main line section to the terminal point flight of second main line end of first main line section, unmanned aerial vehicle's position point when material that sprinkler sprayed (for example water, pesticide, seed or fertilizer etc.) begins to fall into the second operation region, the in-process of second position point for unmanned aerial vehicle along the starting point of first main line section to the terminal point flight of second main line end of first main line section, unmanned aerial vehicle's position point when the material that sprinkler sprayed begins all to fall into outside the second operation region.

As shown in fig. 13, since the starting point of the first main route segment is position point 65 and the end point thereof is position point 67, the first position point at which the spraying device starts to perform the spraying work is position point 64, and the second position point at which the spraying work stops is position point 66, the route segment 61 between the position point 65 and the position point 64 is determined as the first end route segment, the route segment 62 between the position point 66 and the position point 67 is determined as the second end route segment, and the route segment 63 between the position point 64 and the position point 66 is determined as the middle route segment.

Step S105, determining a second flight path of the unmanned aerial vehicle according to the first operation area, wherein the second flight path comprises a second main flight path segment for the spraying device to execute spraying operation.

In one embodiment, a spraying range of a spraying device is obtained; and determining a second flight path of the unmanned aerial vehicle according to the spraying range and the first operation area. The second flight route comprises a second main route section for spraying operation executed by the spraying device, the second main route section is parallel to the boundary of the operation area, and the unmanned aerial vehicle flies along the second main route section at a constant speed. By determining the second flight route of the unmanned aerial vehicle in the first operation area, the unmanned aerial vehicle continues to perform spraying operation according to the second flight route after performing spraying operation according to the first flight route, the edge of the operation area can be effectively uniformly sprayed, and the spraying effect is greatly improved.

Illustratively, a distance between a first boundary segment and a second boundary segment of the first working area is obtained, and whether the distance is smaller than or equal to a spraying range of the spraying device is determined; if the distance is smaller than or equal to the spraying range of the spraying device, acquiring a first boundary waypoint on the first boundary segment and a second boundary waypoint on the second boundary segment, and determining a midpoint position point between the first boundary waypoint and the second boundary waypoint; and determining the midpoint position point as a waypoint of the unmanned aerial vehicle on a second flight path, and sequentially connecting the determined waypoints in a clockwise direction or an anticlockwise direction to obtain the second flight path of the unmanned aerial vehicle. As shown in fig. 14, a second flight path 70 of unmanned aerial vehicles is planned within the first work area a, and the second flight path 70 includes a first waypoint 71, a second waypoint 72, a third waypoint 73 and a fourth waypoint 74.

In an embodiment, the number of the second main flight path segments is a plurality of, and the second flight path further comprises a second connecting flight path segment connected with the second main flight path segment, wherein when the unmanned aerial vehicle flies in the second connecting flight path segment, the spraying device does not execute spraying operation. As shown in FIG. 15, the second course of flight comprises a second main flight segment 83 and a second main flight segment 84, with the second main flight segment 83 located in the first work area A1 and the second main flight segment 84 located in the first work area A2, and the second connecting flight segment comprises the segment between the starting waypoint 38 and waypoint 81 of the first course of flight and the segment between the ending waypoint 39 and waypoint 82 of the first course of flight.

In one embodiment, the distance between the first boundary segment and the second boundary segment of the first working area is acquired, and whether the distance is smaller than or equal to the spraying range of the spraying device is determined; if the distance is larger than the spraying range of the spraying device, determining the number of the main route segments according to the ratio of the distance to the spraying range, and determining the quotient of the spraying range and the number of the main route segments to obtain the route distance; and acquiring a first boundary waypoint on the first boundary segment and a second boundary waypoint on the second boundary segment, and determining a second flight path of the unmanned aerial vehicle according to the first boundary waypoint, the second boundary waypoint, the flight path distance and the distance. For example, the distance between the first boundary segment and the second boundary segment is 4 meters, the spraying range is 2 meters, the ratio of the distance to the spraying range is 2, therefore, the number of the main flight line segments is 2, the flight line distance is 1 meter because the spraying range is 2 meters and the number of the main flight line segments is 2, and a second flight line comprising two second main flight line segments can be obtained by the flight line distance of 1 meter and the distance between the first boundary segment and the second boundary segment of 4 meters.

Illustratively, as shown in fig. 16, the second flight path includes a first waypoint 71, a second waypoint 72, a third waypoint 73, a fourth waypoint 74, a fifth waypoint 75, a sixth waypoint 76, a seventh waypoint 77, and an eighth waypoint 78, and further includes a second main route segment 85, a second main route segment 86, and a second connecting route segment between the fourth waypoint 74 and the eighth waypoint 78, the second main route segment 85 and the second main route segment 86 being connected by the second connecting route segment between the fourth waypoint 74 and the eighth waypoint 78.

In one embodiment, the first flight path includes a start waypoint and an end waypoint, the second flight path includes a first end waypoint at one end of the second flight path and a second end waypoint at the other end, and a target end waypoint closest to the end waypoint is determined from the first end waypoint and the second end waypoint; and determining the target end waypoint as a starting waypoint of the unmanned aerial vehicle on the second flight path. After flying from the starting waypoint to the ending waypoint along the first flight path, the unmanned aerial vehicle flies from the ending waypoint to the target end waypoint. The end waypoint which is closest to the end waypoint of the first flight route and is positioned at the end part of the second flight route is determined as the starting waypoint of the unmanned aerial vehicle on the second flight route, so that the unmanned aerial vehicle can quickly arrive at the second flight route after the spraying operation is executed according to the first flight route, and the spraying operation speed is improved.

Illustratively, as shown in fig. 17, the first flight path includes a start waypoint 31 and an end waypoint 32, the second flight path includes a first waypoint 71, a second waypoint 72, a third waypoint 73 and a fourth waypoint 74, and as can be seen from fig. 17, the third waypoint 73 is closest to the end waypoint 32, and therefore the third waypoint 73 is determined to be the start waypoint of the drone on the second flight path.

In one embodiment, the flight direction of the unmanned aerial vehicle when flying along the second flight path is set. Wherein, the direction of flight is instructed by the user, and the direction of flight when unmanned aerial vehicle flies along the second flight route can be set up before the operation is sprayed in the beginning by the user, also can carry out according to first flight route at unmanned aerial vehicle and spray the operation after, set up by the user, and this application embodiment does not do specifically to this and limits, and the direction of flight when unmanned aerial vehicle flies along the second flight route can include clockwise and anticlockwise. By setting the flight direction of the unmanned aerial vehicle when flying along the second flight route, after the spraying operation is executed according to the first flight route, the spraying operation can be executed according to the set flight direction and the second flight route.

According to the route planning method provided by the embodiment, the first flight route of the unmanned aerial vehicle is determined according to the operation area to be sprayed, the first operation area positioned at the edge of the operation area and the second operation area except the first operation area are determined in the operation area, the second flight route of the unmanned aerial vehicle is determined according to the first operation area, the second flight route comprises the second main route section of the spraying operation executed by the spraying device, and the spraying route section of the spraying operation executed by the spraying device and the non-spraying route section of the spraying operation not executed by the spraying device are determined from the first flight route according to the second operation area, so that the unmanned aerial vehicle can effectively and uniformly spray the edge of the operation area when the spraying operation is executed according to the first flight route and the second flight route, and the spraying effect is greatly improved.

Referring to fig. 18, fig. 18 is a schematic block diagram of a structure of an air route planning apparatus for an unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 18, the route planning apparatus 300 of the drone includes a processor 301 and a memory 302, and the processor 301 and the memory 302 are connected by a bus 303, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 301 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.

Specifically, the Memory 302 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

Wherein the processor 301 is configured to run a computer program stored in the memory 302, and when executing the computer program, implement the following steps:

acquiring an operation area to be sprayed;

In one embodiment, the working area is a closed area.

In one embodiment, the working area is an open area.

In an embodiment, the processor, when implementing acquiring a work area to be sprayed, is configured to implement:

determining a first reference point and a first reference direction corresponding to the first reference point;

determining a second reference point and a second reference direction corresponding to the second reference point;

determining an area bordered by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction as the working area.

In one embodiment, the first flight path comprises a plurality of first main flight segments, the non-spraying flight path segments comprise first end flight segments and second end flight segments located at ends of the first main flight segments, and the spraying flight path segments comprise intermediate flight segments located between the first end flight segments and the second end flight segments.

In one embodiment, the first main route segment is a straight line.

In one embodiment, the plurality of first primary flight path segments are parallel to each other, the first flight path further comprises a first connecting flight path segment connecting the first primary flight path segments, and the non-spraying flight path segment further comprises the first connecting flight path segment.

In an embodiment, adjacent first primary route segments of the plurality of first primary route segments intersect.

In an embodiment, the spraying route segment is a route segment where the unmanned aerial vehicle flies at a constant speed.

In an embodiment, the non-spraying flight path segment comprises a flight path segment where the drone is flying at an acceleration and/or deceleration.

In one embodiment, the second main flight segment is parallel to the boundary of the working area.

In an embodiment, the unmanned aerial vehicle flies along the second main route segment at a constant speed.

In an embodiment, the number of the second main flight path segments is a plurality of, the second flight path further comprises a second connecting flight path segment connecting the second main flight path segment, wherein when the unmanned aerial vehicle flies in the second connecting flight path segment, the spraying device does not perform spraying operation.

In one embodiment, the first work area surrounds the second work area.

In one embodiment, the first work area partially surrounds the second work area.

In an embodiment, the number of the first working areas is plural, and the plural first working areas are not connected.

In an embodiment, the processor is configured to, when determining a first one of the job regions that is located at an edge of the job region, perform:

acquiring the spraying range of the spraying device;

and determining a first working area located at the edge of the working area in the working area according to the spraying range.

In an embodiment, the boundary of the first working area comprises a first boundary segment and a second boundary segment parallel to the first boundary segment, wherein the boundary of the working area comprises the first boundary segment and the spray range is used for determining the distance between the first boundary segment and the second boundary segment.

In an embodiment, the distance between the first boundary segment and the second boundary segment is the spray range.

In one embodiment, the first flight path includes a start waypoint and an end waypoint, the second flight path includes a first end waypoint at one end of the second flight path and a second end waypoint at the other end, and the processor is further configured to implement the steps of:

determining a target end waypoint that is closest to the end waypoint from the first end waypoint and the second end waypoint, wherein the drone flies from the end waypoint to the target end waypoint after flying from the start waypoint to the end waypoint along the first flight path.

In one embodiment, the processor is further configured to implement the steps of:

setting a flight direction of the unmanned aerial vehicle when flying along the second flight path, wherein the flight direction is indicated by a user.

In one embodiment, the processor is operative to, when determining from the first flight path a spray flight path segment for performing a spray operation and a non-spray flight path segment for not performing a spray operation for the spray apparatus in accordance with the second operation region,:

determining a route segment of the first flight route located in the second work area as the spray route segment; and

determining the non-spraying course segment from the course segment of the first flight course located outside the second work area.

In one embodiment, the processor is configured to, when determining from the first flight path a spraying flight path for the spraying device to perform a spraying operation and a non-spraying flight path for the spraying device not to perform a spraying operation in accordance with the second operation area, perform:

acquiring the spraying range of the unmanned aerial vehicle;

determining the first end segment, the second end segment and the middle segment of the first main segment according to the spraying range and the second operation area.

In an embodiment, the processor is operative, when determining the first end segment, the second end segment and the middle segment of the first main segment in dependence on the spray range and the second operating area, to:

according to the spraying range and the second operation area, determining a first position point at which the spraying device starts to perform spraying operation and a second position point at which the spraying device stops performing spraying operation on the first main route segment, wherein the first position point is the position point of the unmanned aerial vehicle when the material sprayed by the spraying device starts to fall into the second operation area in the process that the unmanned aerial vehicle flies from the starting point of the first main route segment to the end point of the second main route end along the first main route segment, and the second position point is the position point of the unmanned aerial vehicle when the material sprayed by the spraying device starts to fall out of the second operation area in the process that the unmanned aerial vehicle flies from the starting point of the first main route segment to the end point of the second main route end along the first main route segment;

determining a route segment between the start of the first main route segment and the first location point as the first end route segment; and

determining a route segment between the end point of the first main route segment and the second location point as the second end route segment; and

determining a course segment between the first location point and the second location point as the intermediate course segment.

It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working process of the above-described route planning device may refer to the corresponding process in the foregoing route planning method embodiment, and is not described herein again.

Referring to fig. 19, fig. 19 is a schematic block diagram of a structure of an unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 19, the unmanned aerial vehicle 400 includes organism 410, driving system 420, sprinkler 430 and route planning device 440, wherein, driving system 420 and sprinkler 430 are located on the organism 410, inside the organism 410 was located to route planning device 440, driving system 420 is used for providing flight power for unmanned aerial vehicle 400, sprinkler 430 is used for splendid attire and sprays the material, route planning device 440 is used for planning unmanned aerial vehicle 400's flight route and still is used for controlling unmanned aerial vehicle 400 to fly.

It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working process of the above-described unmanned aerial vehicle may refer to the corresponding process in the foregoing embodiment of the route planning method for an unmanned aerial vehicle, and details are not described herein again.

Referring to fig. 20, fig. 20 is a schematic block diagram of a structure of a terminal device according to an embodiment of the present application.

As shown in fig. 20, the terminal device 500 includes an air route planning device 510, and the air route planning device 510 is used for planning the flight route of the unmanned aerial vehicle.

It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working process of the terminal device described above may refer to the corresponding process in the foregoing embodiment of the route planning method for an unmanned aerial vehicle, and details are not described here again.

The embodiment of the application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the route planning method for the unmanned aerial vehicle provided in the above embodiment.

The computer readable storage medium may be the route planning apparatus or the internal storage unit of the unmanned aerial vehicle described in any of the foregoing embodiments, such as a hard disk or a memory of the terminal device or the unmanned aerial vehicle. The computer readable storage medium may also be an external storage device of the terminal device or the unmanned aerial vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device or the unmanned aerial vehicle.

It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

An air route planning method for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a spraying device for containing and spraying materials, the method comprising:

acquiring an operation area to be sprayed;

determining a first flight path of the unmanned aerial vehicle according to the operation area;

determining a first working area located at the edge of the working area and a second working area except the first working area in the working area;

determining a second flight path of the unmanned aerial vehicle according to the first operation area, wherein the second flight path comprises a second main flight line segment for the spraying device to perform spraying operation;

and determining a spraying route segment for spraying operation and a non-spraying route segment for not executing spraying operation of the spraying device from the first flight route according to the second operation area, wherein at least one part of the non-spraying route segment is positioned in the first operation area.
The airline planning method according to claim 1, characterized in that the working area is a closed area.
The airline planning method according to claim 1, wherein the work area is an open area.
The route planning method according to claim 2 or 3, wherein said acquiring a work area to be sprayed comprises:

determining a first reference point and a first reference direction corresponding to the first reference point;

determining a second reference point and a second reference direction corresponding to the second reference point;

determining an area bounded by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction as the working area.
The method for route planning according to any one of claims 1 to 4, wherein said first flight route comprises a plurality of first main route segments, said non-spraying route segments comprising a first end route segment and a second end route segment at the ends of said first main route segment, said spraying route segment comprising an intermediate route segment between said first end route segment and said second end route segment.
The route planning method according to claim 5, wherein the first main route segment is a straight line.
The flight path planning method according to claim 5 or 6, wherein the plurality of first main flight path segments are parallel to each other, the first flight path further comprises a first connecting flight path segment connecting the first main flight path segments, and the non-spraying flight path segment further comprises the first connecting flight path segment.
Route planning method according to claim 5 or 6, characterized in that adjacent first main route segments of the plurality of first main route segments intersect.
The route planning method according to any one of claims 1 to 8, wherein the spraying route segment is a route segment in which the unmanned aerial vehicle flies at a constant speed.
The route planning method according to any one of claims 1 to 8, wherein the non-spraying route segments include route segments in which the drone is flying at an acceleration and/or deceleration.
Route planning method according to one of claims 1-10, characterized in that the second main route segment is parallel to the boundary of the working area.
The airline planning method according to any of claims 1-11, wherein the drone flies at a constant speed along the second primary airline segment.
The airline planning method according to any one of claims 1 to 12, wherein the number of the second main flight path segments is plural, the second flight path further comprising a second connecting flight path segment connecting the second main flight path segments, wherein the spraying device does not perform a spraying operation while the unmanned aerial vehicle is flying on the second connecting flight path segment.
The airline planning method according to any of claims 1-13, characterized in that the first working area surrounds the second working area.
The airline planning method according to any of claims 1-13, characterized in that the first work area partially surrounds the second work area.
The route planning method according to any one of claims 1 to 13 wherein the number of the first work areas is plural, and the plural first work areas are not connected.
The route planning method according to any one of claims 1-16, wherein determining a first one of the work areas that is located at an edge of the work area comprises:

acquiring the spraying range of the spraying device;

and determining a first working area located at the edge of the working area in the working area according to the spraying range.
The airline planning method according to claim 17, wherein the boundary of the first work area includes a first boundary segment and a second boundary segment parallel to the first boundary segment, wherein the boundary of the work area includes the first boundary segment, and wherein the spray range is used to determine a distance between the first boundary segment and the second boundary segment.
The route planning method according to claim 18, wherein the distance between the first boundary segment and the second boundary segment is the spray range.
The route planning method according to any one of claims 1 to 19, wherein the first flight route includes a start waypoint and an end waypoint, and the second flight route includes a first end waypoint at one end of the second flight route and a second end waypoint at the other end, the method further comprising:

determining a target end waypoint that is closest to the end waypoint from the first end waypoint and the second end waypoint, wherein the drone flies from the end waypoint to the target end waypoint after flying from the start waypoint to the end waypoint along the first flight path.
The airline planning method according to any of claims 1-20, characterized in that the method further comprises:

setting a flight direction of the unmanned aerial vehicle when flying along the second flight path, wherein the flight direction is indicated by a user.
The route planning method according to any one of claims 1 to 21, wherein said determining from the first flight route, according to the second working area, a spraying route segment in which the spraying device performs spraying work and a non-spraying route segment in which no spraying work is performed, comprises:

determining a flight path segment of the first flight path that is located in the second work area as the spray flight path segment; and

determining the non-spraying course segment from the course segment of the first flight course located outside the second work area.
The route planning method according to any one of claims 5 to 8, wherein determining from the first flight route a spraying route segment where the spraying device performs spraying work and a non-spraying route segment where no spraying work is performed according to the second work area comprises:

acquiring the spraying range of the unmanned aerial vehicle;

determining the first end segment, the second end segment and the middle segment of the first main segment according to the spraying range and the second operation area.
The route planning method according to claim 23, wherein said determining the first end, second end and middle of the first main leg segments from the spray area and the second work area comprises:

according to the spraying range and the second operation area, determining a first position point at which the spraying device starts to perform spraying operation and a second position point at which the spraying device stops performing spraying operation on the first main route segment, wherein the first position point is the position point of the unmanned aerial vehicle when the material sprayed by the spraying device starts to fall into the second operation area in the process that the unmanned aerial vehicle flies from the starting point of the first main route segment to the end point of the second main route segment along the first main route segment, and the second position point is the position point of the unmanned aerial vehicle when the material sprayed by the spraying device starts to fall out of the second operation area in the process that the unmanned aerial vehicle flies from the starting point of the first main route segment to the end point of the second main route segment along the first main route segment;

determining a route segment between the start of the first main route segment and the first location point as the first end route segment; and

determining a route segment between the end point of the first main route segment and the second position point as the second end route segment; and

determining a route segment between the first location point and the second location point as the intermediate route segment.
An air route planning device of an unmanned aerial vehicle is characterized in that the unmanned aerial vehicle comprises a spraying device for containing and spraying materials, and the air route planning device comprises a memory and a processor;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

acquiring an operation area to be sprayed;

determining a first flight path of the unmanned aerial vehicle according to the operation area;

determining a first working area located at an edge of the working area and a second working area other than the first working area in the working area;

determining a second flight path of the unmanned aerial vehicle according to the first operation area, wherein the second flight path comprises a second main flight line segment for the spraying device to perform spraying operation;

and determining a spraying route segment for spraying operation and a non-spraying route segment for not executing spraying operation of the spraying device from the first flight route according to the second operation area, wherein at least one part of the non-spraying route segment is positioned in the first operation area.
The airline planning device of claim 25, wherein the work area is an enclosed area.
The airline planning device of claim 25, wherein the work area is an open area.
The route planning device of claim 26 or 27 wherein the processor, when effecting acquisition of a work area to be sprayed, is adapted to effect:

determining a first reference point and a first reference direction corresponding to the first reference point;

determining a second reference point and a second reference direction corresponding to the second reference point;

determining an area bounded by a reference line between the first reference point and the second reference point, a reference line extending from the first reference point in the first reference direction, and a reference line extending from the second reference point in the second reference direction as the working area.
The air route planning device of any one of claims 25 to 28 wherein the first flight route comprises a plurality of first main route segments, the non-spraying route segments comprising first and second end route segments located at ends of the first main route segments, the spraying route segments comprising an intermediate route segment located between the first and second end route segments.
The route planning device of claim 29 wherein the first primary route segment is a straight line.
The flight planning apparatus of claim 29 or 30, wherein the first plurality of primary flight path segments are parallel to each other, the first flight path further comprises a first connecting flight segment connecting the first primary flight segment, and the non-spraying flight segment further comprises the first connecting flight segment.
The route planning apparatus according to claim 29 or 30 wherein adjacent ones of the first plurality of primary route segments intersect.
The airline planning device according to any of claims 25-31, wherein the spraying flight segment is a flight segment where the drone flies at a constant speed.
The airline planning device according to any of claims 25-31, wherein the non-spraying route segments include route segments in which the drone is flying at an acceleration and/or deceleration.
The air route planning device of any one of claims 25-34 wherein the second main route segment is parallel to a boundary of the work area.
The airline planning device according to any of claims 25-35, wherein the drone flies at a constant speed along the second main route segment.
The air route planning device according to any one of claims 25 to 36 wherein the number of the second main flight path segments is plural, the second flight path further comprising a second connecting flight path segment connecting the second main flight path segments, wherein the spraying device does not perform spraying operation while the unmanned aerial vehicle is flying on the second connecting flight path segment.
The airline planning device according to any of claims 25-37, wherein the first work area surrounds the second work area.
The airline planning device according to any of claims 25-37, wherein the first work area partially surrounds the second work area.
The airline planning device according to any of claims 25-37, wherein the number of the first work areas is plural, the plural first work areas not being in communication.
The airline planning device according to any of claims 25-40, wherein the processor is implemented, in determining a first one of the work areas that is located at an edge of the work area, to implement:

acquiring the spraying range of the spraying device;

and determining a first working area located at the edge of the working area in the working area according to the spraying range.
The air route planning apparatus of claim 41 wherein the boundary of the first work area comprises a first boundary segment and a second boundary segment parallel to the first boundary segment, wherein the boundary of the work area comprises the first boundary segment and the spray range is used to determine a distance between the first boundary segment and the second boundary segment.
The air route planning device according to claim 42 wherein the distance between the first boundary segment and the second boundary segment is the spray range.
The airline planning device according to any of claims 25-43, wherein the first flight path includes a start waypoint and an end waypoint, wherein the second flight path includes a first end waypoint at one end of the second flight path and a second end waypoint at the other end, and wherein the processor is further configured to implement the steps of:

determining a target end waypoint that is closest to the end waypoint from the first end waypoint and the second end waypoint, wherein the drone flies from the end waypoint to the target end waypoint after flying from the start waypoint to the end waypoint along the first flight path.
The airline planning device according to any of claims 25-44, wherein the processor is further configured to implement the steps of:

setting a flight direction of the unmanned aerial vehicle when flying along the second flight path, wherein the flight direction is indicated by a user.
The flight path planning apparatus according to any one of claims 25 to 45 wherein the processor is operative to effect, in determining from the first flight path, a spray flight segment for which the spray apparatus performs a spray operation and a non-spray flight segment for which no spray operation is performed in dependence on the second operational area,:

determining a flight path segment of the first flight path that is located in the second work area as the spray flight path segment; and

determining the non-spraying course segment from the course segment of the first flight course located outside the second work area.
The route planning device according to one of claims 29 to 32, wherein the processor is configured to determine, from the first flight route, a spraying route section in which the spraying device performs a spraying operation and a non-spraying route section in which no spraying operation is performed according to the second operating area, in order to:

acquiring the spraying range of the unmanned aerial vehicle;

determining the first end segment, the second end segment and the middle segment of the first main segment according to the spraying range and the second operation area.
The route planning apparatus according to claim 47 wherein the processor effects determination of the first end, second end and middle of the first main leg segments based on the spray area and the second work area to effect:

according to the spraying range and the second operation area, determining a first position point at which the spraying device starts to perform spraying operation and a second position point at which the spraying device stops performing spraying operation on the first main route segment, wherein the first position point is the position point of the unmanned aerial vehicle when the material sprayed by the spraying device starts to fall into the second operation area in the process that the unmanned aerial vehicle flies from the starting point of the first main route segment to the end point of the second main route segment along the first main route segment, and the second position point is the position point of the unmanned aerial vehicle when the material sprayed by the spraying device starts to fall out of the second operation area in the process that the unmanned aerial vehicle flies from the starting point of the first main route segment to the end point of the second main route segment along the first main route segment;

determining a route segment between the start of the first main route segment and the first location point as the first end route segment; and

determining a route segment between the end point of the first main route segment and the second position point as the second end route segment; and

determining a route segment between the first location point and the second location point as the intermediate route segment.
An unmanned aerial vehicle, comprising:

a body;

the power system is arranged on the machine body and used for providing flight power for the unmanned aerial vehicle;

the spraying device is arranged on the machine body and used for containing and spraying materials;

the airline planning device according to any one of claims 25-48.
A terminal device, characterized in that it comprises an airline planning apparatus according to any one of claims 25-48.
A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the method of route planning for a drone according to any one of claims 1 to 24.