CN117590858A

CN117590858A - Greenhouse unmanned vehicle navigation method and greenhouse unmanned vehicle navigation system

Info

Publication number: CN117590858A
Application number: CN202410081791.9A
Authority: CN
Inventors: 金小俊; 谢加超; 杨喆; 张啸岳; 韩康; 于佳琳
Original assignee: Shandong Provincial Laboratory Of Weifang Modern Agriculture
Current assignee: Shandong Provincial Laboratory Of Weifang Modern Agriculture
Priority date: 2024-01-19
Filing date: 2024-01-19
Publication date: 2024-02-23
Anticipated expiration: 2044-01-19
Also published as: CN117590858B

Abstract

The application provides a greenhouse unmanned vehicle navigation method and a greenhouse unmanned vehicle navigation system. The method comprises the following steps: at least acquiring a greenhouse SLAM map from a cloud server, and controlling an interaction panel to display the greenhouse SLAM map; acquiring a first target coordinate sequence from the interactive panel; determining a second target coordinate sequence according to the first target coordinate sequence and the coordinate mapping relation; and sending the second target coordinate sequence to the unmanned aerial vehicle at least through the cloud server, so that the unmanned aerial vehicle runs according to the first target path. The method solves the problem that the greenhouse unmanned vehicle navigation method in the prior art cannot reduce the manpower resource consumption and the navigation accuracy.

Description

Greenhouse unmanned vehicle navigation method and greenhouse unmanned vehicle navigation system

Technical Field

The application relates to the field of unmanned vehicle navigation, in particular to a greenhouse unmanned vehicle navigation method and a greenhouse unmanned vehicle navigation system.

Background

At present, the navigation mode of the unmanned vehicle in the agricultural greenhouse is as follows:

only adopting the navigation mode of UWB technology: manually controlling the unmanned aerial vehicle to travel according to a preset travel path, determining the coordinates of the position points on the travel path under the UWB coordinate system through the UWB positioning system in the process of the unmanned aerial vehicle according to the preset travel path, storing the coordinates of the position points on the preset travel path under the UWB coordinate system into the unmanned aerial vehicle, automatically traveling the unmanned aerial vehicle according to the travel path through the UWB positioning system based on the coordinates of the position points on the travel path under the UWB coordinate system, and positioning the unmanned aerial vehicle through the UWB positioning system in the process of automatically traveling the unmanned aerial vehicle according to the travel path through the UWB positioning system, wherein the UWB positioning system can provide higher positioning accuracy due to the fact that the UWB positioning system determines the position through measuring the propagation time of radio pulses, therefore, the unmanned aerial vehicle navigation mode is high in accuracy, but manpower resource consumption is increased due to the fact that the coordinates on the travel path under the UWB coordinate system are required to be determined manually in advance;

Navigation mode only by SLAM technology: the greenhouse map generated by the SLAM system is displayed on the control terminal, a user can draw a running path of the unmanned aerial vehicle on the greenhouse map, the unmanned aerial vehicle automatically runs through the SLAM system according to the running path drawn by the user, the unmanned aerial vehicle navigation mode only needs the user to draw the running path of the unmanned aerial vehicle on the greenhouse map, the manpower resource consumption is reduced, but the unmanned aerial vehicle automatically runs through the SLAM system according to the running path drawn by the user, the SLAM system is used for constructing the map and positioning the unmanned aerial vehicle at the same time, and the environment is continuously changed in the running process of the unmanned aerial vehicle according to the running path drawn by the user, so that the SLAM system frequently updates the map, the positioning accuracy is affected, and the unmanned aerial vehicle navigation mode is low in accuracy.

Currently there is no solution to the above problems.

Disclosure of Invention

The main purpose of the application is to provide a greenhouse unmanned vehicle navigation method and a greenhouse unmanned vehicle navigation system, so as to at least solve the problem that the greenhouse unmanned vehicle navigation method in the prior art cannot reduce the manpower resource consumption and the navigation accuracy.

In order to achieve the above object, according to one aspect of the present application, there is provided a greenhouse unmanned vehicle navigation method, a greenhouse unmanned vehicle navigation system including an unmanned vehicle, a cloud server and a control terminal, the unmanned vehicle being in communication connection with the cloud server, the cloud server being in communication connection with the control terminal, the method being applied to the control terminal, the control terminal being provided with an interactive panel, the method comprising: at least acquiring a greenhouse SLAM map from the cloud server, and controlling the interaction panel to display the greenhouse SLAM map, wherein the greenhouse SLAM map is a map of a greenhouse under an SLAM coordinate system, comprises a map of an obstacle area and a map of a non-obstacle area of the greenhouse, and is created by the unmanned vehicle and sent to the cloud server; acquiring a first target coordinate sequence from the interactive panel, wherein the first target coordinate sequence comprises a plurality of first target coordinates, one first target coordinate is the coordinate of one position point of a first target path under the SLAM coordinate system, the first target path consists of a plurality of position points of a non-obstacle area of the greenhouse, and the first target path is drawn on the interactive panel by a user; determining a second target coordinate sequence according to the first target coordinate sequence and a coordinate mapping relation, wherein the coordinate mapping relation is a mapping relation between the coordinates of the position point under the SLAM coordinate system and the coordinates of the position point under the UWB coordinate system, the second target coordinate sequence comprises a plurality of second target coordinates, the second target coordinates correspond to the first target coordinates one by one, and the second target coordinates are the coordinates of the first target coordinates corresponding to the position point under the UWB coordinate system; and at least transmitting the second target coordinate sequence to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs according to the first target path.

Optionally, at least the cloud server sends the second target coordinate sequence to the unmanned vehicle, so that the unmanned vehicle runs according to the first target path, including: acquiring a third target coordinate from the cloud server, wherein the third target coordinate is a coordinate of the position point where the unmanned vehicle is located under the UWB coordinate system, and the third target coordinate is sent to the cloud server by the unmanned vehicle; determining a fourth target coordinate according to the third target coordinate and the coordinate mapping relation, wherein the fourth target coordinate is the coordinate of the position point where the unmanned vehicle is located under the SLAM coordinate system; according to the fourth target coordinates, controlling the interactive panel to display the position point of the unmanned vehicle on the greenhouse SLAM map; acquiring a third target coordinate sequence from the interactive panel under the condition that the third target coordinate is different from the first target coordinate of the second target coordinate sequence, wherein the third target coordinate sequence comprises a plurality of fifth target coordinates, one fifth target coordinate is the coordinate of one position point of a second target path under the SLAM coordinate system, the second target path consists of a plurality of position points of a non-obstacle area of the greenhouse, the initial position point of the second target path is the position point of the unmanned vehicle, the final position point of the second target path is the position point corresponding to the first second target coordinate of the second target coordinate sequence, and the second target path is drawn on the interactive panel by the user; determining a fourth target coordinate sequence according to the third target coordinate sequence and the coordinate mapping relation, wherein the fourth target coordinate sequence comprises a plurality of sixth target coordinates, the sixth target coordinates are in one-to-one correspondence with the fifth target coordinates, and the sixth target coordinates are coordinates, corresponding to the fifth target coordinates, of the position point under the UWB coordinate system; and sending the fourth target coordinate sequence and the second target coordinate sequence to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs sequentially according to the second target path and the first target path.

Optionally, at least the cloud server sends the second target coordinate sequence to the unmanned vehicle, so that the unmanned vehicle runs according to the first target path, including: acquiring an operation mode of the unmanned aerial vehicle from the interactive panel, wherein the operation mode is any one of the following: no operation, inspection and medicine spraying are carried out, and the operation mode is set on the interactive panel by the user; and sending the second target coordinate sequence and the operation mode to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs according to the first target path, and the unmanned aerial vehicle works according to the operation mode in the running process according to the first target path.

Optionally, in the process of sending the fourth target coordinate sequence and the second target coordinate sequence to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs sequentially according to the second target path and the first target path, the method further includes: within a preset time length, detecting whether the cloud server receives the third target coordinate sent by the unmanned vehicle or not, and detecting whether the cloud server receives running information sent by the unmanned vehicle or not, wherein the running information at least comprises: the electric quantity of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle and the heading angle of the unmanned aerial vehicle; and controlling the interaction panel to display first alarm information when the cloud server does not receive the sixth target coordinate sent by the unmanned aerial vehicle and does not receive the driving information sent by the unmanned aerial vehicle within the preset time, wherein the first alarm information indicates that the connection of the unmanned aerial vehicle is lost.

Optionally, in the process of sending the fourth target coordinate sequence and the second target coordinate sequence to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs sequentially according to the second target path and the first target path, the method further includes: detecting whether second alarm information exists in the cloud server, and sending the second alarm information to the cloud server by the unmanned vehicle under the condition that the target distance is smaller than a preset distance, wherein the target distance is the distance between the unmanned vehicle and surrounding obstacles of the unmanned vehicle, and the second alarm information indicates that collision risk exists in the unmanned vehicle; under the condition that the second alarm information exists in the cloud server, a second remote control instruction or a third remote control instruction is sent to the unmanned aerial vehicle through the cloud server, the second remote control instruction at least comprises the running direction of the unmanned aerial vehicle, the steering direction of the unmanned aerial vehicle and the operation mode of the unmanned aerial vehicle, the third remote control instruction at least comprises a preset coordinate sequence and the operation mode of the unmanned aerial vehicle, the preset coordinate sequence comprises a plurality of preset coordinates, one preset coordinate is the coordinate of one position point of a preset path under the UWB coordinate system, the preset path is composed of a plurality of position points of a non-obstacle area of the greenhouse, and the operation mode is any one of the following: no operation, inspection and spraying.

Optionally, before determining the second target coordinate sequence according to the first target coordinate sequence and the coordinate mapping relation, the method further comprises: and acquiring a coordinate mapping relation from the cloud server, wherein the coordinate mapping relation is sent to the cloud server by the unmanned aerial vehicle.

According to another aspect of the application, there is provided a greenhouse unmanned vehicle navigation method, a greenhouse unmanned vehicle navigation system includes an unmanned vehicle, a cloud server and a control terminal, the unmanned vehicle is in communication connection with the cloud server, the cloud server is in communication connection with the control terminal, the method is applied to the unmanned vehicle, the control terminal is provided with an interactive panel, the method includes: establishing a greenhouse SLAM map, wherein the greenhouse SLAM map is a map of a greenhouse under an SLAM coordinate system, and comprises a map of an obstacle area and a map of a non-obstacle area of the greenhouse; the greenhouse SLAM map is sent to the cloud server, the control terminal is used for obtaining the greenhouse SLAM map from the cloud server and controlling the interaction panel to display the greenhouse SLAM map, the control terminal is used for obtaining a first target coordinate sequence from the interaction panel, the first target coordinate sequence comprises a plurality of first target coordinates, one first target coordinate is the coordinate of one position point of a first target path in an SLAM coordinate system, the first target path is composed of a plurality of position points of a non-obstacle area of the greenhouse, the first target path is drawn on the interaction panel by a user, the control terminal is further used for determining a second target coordinate sequence according to the first target coordinate sequence and a coordinate mapping relation, the coordinate mapping relation is a mapping relation between the coordinate of the position point in the SLAM coordinate system and the coordinate of the position point in a UWB coordinate system, the second target coordinate sequence comprises a plurality of second target coordinates, and the second target coordinate corresponds to the first target point in the UWB coordinate system; and at least receiving the second target coordinate sequence sent by the control terminal through the cloud server, and driving according to the first target path.

Optionally, at least the second target coordinate sequence sent by the control terminal is received through the cloud server, and the vehicle runs according to the first target path, including: the third target coordinates are the coordinates of the position points of the unmanned aerial vehicle in the UWB coordinate system, the control terminal is used for acquiring the third target coordinates from the cloud server, the control terminal is also used for determining a fourth target coordinate according to the third target coordinates and the coordinate mapping relation, the fourth target coordinates are the coordinates of the position points of the unmanned aerial vehicle in the SLAM coordinate system, the control terminal is also used for controlling the interactive panel to display the position points of the unmanned aerial vehicle in the SLAM map according to the fourth target coordinates, the control terminal is also used for acquiring a third target coordinate sequence from the interactive panel under the condition that the third target coordinates are different from the first target coordinates of the second target coordinate sequence, the third target coordinate sequence comprises a plurality of fifth target coordinates, the first target coordinates are the coordinates of the position points of the second target path in the SLAM map under the SLAM map, the position points of the interactive panel are also used for drawing the position points of the interactive panel in the second target path, the position points of the interactive panel are not corresponding to the second target path sequence, the control terminal is also used for drawing the position points of the interactive panel in the second target path in the position coordinate sequence according to the second target coordinate sequence, the fourth target coordinate sequence comprises a plurality of sixth target coordinates, the sixth target coordinates are in one-to-one correspondence with the fifth target coordinates, and the sixth target coordinates are coordinates, corresponding to the fifth target coordinates, of the position point under the UWB coordinate system; and receiving the fourth target coordinate sequence and the second target coordinate sequence which are sent by the control terminal through the cloud server, and sequentially driving according to the second target path and the first target path.

Optionally, at least the second target coordinate sequence sent by the control terminal is received through the cloud server, and the vehicle runs according to the first target path, including: the cloud server receives the second target coordinate sequence and the operation mode sent by the control terminal, the control terminal runs according to the first target path and works according to the operation mode in the running process according to the first target path, the control terminal is used for acquiring the operation mode from the interaction panel, and the operation mode is any one of the following: no operation, inspection and spraying.

Optionally, in the process of sequentially following the second target path and the first target path, the method further includes: the third target coordinates and the running information are sent to the cloud server at regular time, and the running information at least comprises: the electric quantity of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle and the heading angle of the unmanned aerial vehicle.

Optionally, in the process of sequentially following the second target path and the first target path, the method further includes: acquiring a target distance, wherein the target distance is the distance between the unmanned vehicle and an obstacle around the unmanned vehicle; when the target distance is smaller than a preset distance, the unmanned vehicle sends second warning information to the cloud server, wherein the second warning information indicates that the unmanned vehicle has collision risk; under the condition that the cloud server receives a second remote control instruction sent by the control terminal, the second remote control instruction operates according to the second remote control instruction, wherein the second remote control instruction at least comprises a driving direction of the unmanned vehicle, steering of the unmanned vehicle and an operation mode of the unmanned vehicle, and the operation mode is any one of the following: no operation, inspection and spraying; under the condition that the cloud server receives a third remote control instruction sent by the control terminal, the third remote control instruction operates according to the third remote control instruction, the third remote control instruction at least comprises a preset coordinate sequence and the operation mode of the unmanned vehicle, the preset coordinate sequence comprises a plurality of preset coordinates, one preset coordinate is the coordinate of one position point of a preset path under the UWB coordinate system, and the preset path consists of a plurality of position points of a non-obstacle area of the greenhouse.

Optionally, in the process of building the greenhouse SLAM map, the method further includes: acquiring coordinates of a plurality of position points of the greenhouse under the SLAM coordinate system, and acquiring coordinates of a plurality of position points of the greenhouse under the UWB coordinate system; establishing the coordinate mapping relation according to the coordinates of a plurality of position points of the greenhouse under the SLAM coordinate system and the coordinates of a plurality of position points of the greenhouse under the UWB coordinate system; and sending the coordinate mapping relation to the cloud server.

According to yet another aspect of the present application, there is provided a greenhouse unmanned vehicle navigation system, the system comprising: a UWB base station; the unmanned aerial vehicle is provided with a UWB tag, a laser radar and an ultrasonic device, and is in communication link with the UWB base station, and the unmanned aerial vehicle is used for executing the greenhouse unmanned aerial vehicle navigation method; the cloud server is in communication connection with the unmanned vehicle; the control terminal is provided with an interaction panel, and is in communication connection with the cloud server and used for executing the greenhouse unmanned vehicle navigation method.

By applying the technical scheme, through the embodiment, the unmanned vehicle creates the greenhouse SLAM map and sends the greenhouse SLAM map to the cloud server, the control terminal obtains the greenhouse SLAM map from the cloud server and controls the interactive panel to display the greenhouse SLAM map, the user draws the first target path on the greenhouse SLAM map, the control terminal obtains the coordinates of the position points on the first target path under the SLAM coordinate system from the interactive panel, the control terminal converts the coordinates of the position points on the first target path under the SLAM coordinate system into the coordinates under the UWB coordinate system, and the coordinates of the position points on the first target path under the UWB coordinate system are sent to the unmanned vehicle, so that the unmanned vehicle runs according to the first target path.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 shows a block diagram of a system for performing greenhouse unmanned vehicle navigation provided in accordance with an embodiment of the present application;

fig. 2 shows a schematic flow chart of a greenhouse unmanned vehicle navigation method according to an embodiment of the application;

fig. 3 is a flow chart of a second greenhouse unmanned vehicle navigation method according to an embodiment of the present application.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For convenience of description, the following will describe some terms or terms related to the embodiments of the present application:

UWB (Ultra-Wideband) positioning system: the ultra-wideband wireless communication technology is utilized to realize an accurate positioning system, the ultra-wideband pulse signal is transmitted to perform positioning at a receiving end by utilizing the principles of multipath propagation and time difference measurement, the UWB positioning technology has the characteristics of high precision, high reliability, strong anti-interference capability and the like, and is suitable for indoor positioning, outdoor positioning, vehicle positioning and other scenes, and the UWB positioning system comprises: the positioning principle of the UWB positioning system is that 4 UWB base stations are arranged in a greenhouse, an unmanned vehicle is required to carry the UWB tag, the UWB tag transmits pulses according to a certain frequency, the pulses are continuously measured with four UWB base stations at known positions, and the positioning is carried out by measuring the transmission time delay difference between different UWB base stations and the unmanned vehicle through a TDOA positioning algorithm.

SLAM (Simultaneous Localization and Mapping) system: the environment is generally sensed in real time by using sensors (such as a laser radar, a camera, an inertial measurement unit and the like) of the unmanned vehicle, the environment map is constructed and updated in real time by fusing data acquired by the sensors through an algorithm, and meanwhile, the unmanned vehicle is estimated by using the map and is aligned with the map, so that the unmanned vehicle is positioned and navigated.

As introduced in the background art, the greenhouse unmanned vehicle navigation method in the prior art cannot reduce the manpower resource consumption and the navigation accuracy, and in order to solve the problem that the greenhouse unmanned vehicle navigation method in the prior art cannot reduce the manpower resource consumption and the navigation accuracy, the embodiment of the application provides the greenhouse unmanned vehicle navigation method and the greenhouse unmanned vehicle navigation system.

The embodiment of the application also provides a greenhouse unmanned vehicle navigation system, as shown in fig. 1, the system comprises:

a UWB base station;

the unmanned aerial vehicle is provided with a UWB tag, a laser radar and an ultrasonic device, and is in communication link with the UWB base station, and the unmanned aerial vehicle is used for executing the greenhouse unmanned aerial vehicle navigation method;

The cloud server is in communication connection with the unmanned vehicle;

and the control terminal is provided with an interactive panel, is in communication connection with the cloud server and is used for executing the greenhouse unmanned vehicle navigation method.

In this embodiment, a method for navigating a greenhouse unmanned vehicle running on a control terminal is provided, and it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that illustrated herein.

Fig. 2 is a flowchart of a greenhouse unmanned vehicle navigation method according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

step S101, at least acquiring a greenhouse SLAM map from the cloud server, and controlling the interactive panel to display the greenhouse SLAM map;

the greenhouse SLAM map is a map of a greenhouse under an SLAM coordinate system, comprises a map of an obstacle area and a map of a non-obstacle area of the greenhouse, is created by the unmanned vehicle and is sent to the cloud server;

Step S102, a first target coordinate sequence is obtained from the interactive panel;

the first target coordinate sequence comprises a plurality of first target coordinates, one first target coordinate is the coordinate of one position point of a first target path under the SLAM coordinate system, the first target path consists of a plurality of position points of a non-obstacle area of the greenhouse, and the first target path is drawn on the interactive panel by a user;

specifically, a dark area in the greenhouse SLAM map is an obstacle area of the greenhouse, white in the greenhouse SLAM map is a map of a non-obstacle area, and when a user draws a path, if the path passes through the obstacle area, a prompt is given to remind the user that the planned path needs to avoid the obstacle.

Step S103, determining a second target coordinate sequence according to the first target coordinate sequence and the coordinate mapping relation;

the coordinate mapping relationship is a mapping relationship between coordinates of the position point in the SLAM coordinate system and coordinates of the position point in the UWB coordinate system, the second target coordinate sequence includes a plurality of second target coordinates, the second target coordinates are in one-to-one correspondence with the first target coordinates, and the second target coordinates are coordinates of the first target coordinates corresponding to the position point in the UWB coordinate system;

Step S104, at least the cloud server sends the second target coordinate sequence to the unmanned aerial vehicle, so that the unmanned aerial vehicle runs according to the first target path.

Specifically, the process of the user issuing the first target path to the unmanned vehicle is as follows, the user draws the first target path on a greenhouse SLAM map, the control terminal obtains the coordinates (first target coordinate sequence) of the position points on the first target path under the SLAM coordinate system from the interactive panel, the control terminal converts the coordinates (first target coordinate sequence) of the position points on the first target path under the SLAM coordinate system into the coordinates (second target coordinate sequence) of the position points on the first target path under the UWB coordinate system, and the coordinates (second target coordinate sequence) of the position points on the first target path under the UWB coordinate system are sent to the unmanned vehicle, so that the unmanned vehicle runs according to the first target path.

Specifically, a UWB positioning system is built in a greenhouse, 4 UWB base stations and 1 UWB tag are generally configured, the UWB base stations are installed at four corners of the greenhouse, the UWB tag is arranged on an unmanned vehicle, and the unmanned vehicle is positioned through the UWB positioning system in the process of automatically running according to the first target path.

Through the embodiment, the unmanned aerial vehicle creates the greenhouse SLAM map and sends the greenhouse SLAM map to the cloud server, the control terminal obtains the greenhouse SLAM map from the cloud server and controls the interactive panel to display the greenhouse SLAM map, a user draws a first target path on the greenhouse SLAM map, the control terminal obtains the coordinates of the position points on the first target path under the SLAM coordinate system from the interactive panel, the control terminal converts the coordinates of the position points on the first target path under the SLAM coordinate system into the coordinates under the UWB coordinate system, and the coordinates of the position points on the first target path under the UWB coordinate system are sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle runs according to the first target path.

In an alternative embodiment, the step S104 may be implemented as:

step S1041, obtaining a third target coordinate from the cloud server, where the third target coordinate is a coordinate of the location point where the unmanned vehicle is located in the UWB coordinate system, and the third target coordinate is sent to the cloud server by the unmanned vehicle;

specifically, the coordinates (third target coordinates) of the position point of the unmanned vehicle under the UWB coordinate system are sent to the cloud server at the unmanned vehicle timing (for example, every 0.5 s), and the coordinates (third target coordinates) of the position point of the unmanned vehicle under the UWB coordinate system are obtained from the cloud server at the control terminal timing (for example, every 0.5 s).

Step S1042, determining a fourth target coordinate according to the third target coordinate and the coordinate mapping relationship, where the fourth target coordinate is a coordinate of the location point where the unmanned vehicle is located in the SLAM coordinate system;

step S1043, according to the fourth target coordinate, controlling the interactive panel to display the position point of the unmanned vehicle on the greenhouse SLAM map;

specifically, the control terminal converts the coordinates (third target coordinates) of the position point of the unmanned vehicle in the UWB coordinate system into the coordinates (fourth target coordinates) of the position point of the unmanned vehicle in the SLAM coordinate system, and controls the interactive panel to display the position point of the unmanned vehicle on the greenhouse SLAM map according to the coordinates (fourth target coordinates) of the position point of the unmanned vehicle in the SLAM coordinate system.

Step S1044 of acquiring a third target coordinate sequence from the interactive panel when the third target coordinate is different from the first one of the second target coordinate sequences, wherein the third target coordinate sequence includes a plurality of fifth target coordinates, one of the fifth target coordinates is a coordinate of one of the position points of the second target path in the SLAM coordinate system, the second target path is composed of a plurality of the position points of the non-obstacle area of the greenhouse, the position point of the start of the second target path is the position point of the unmanned vehicle, the position point of the end of the second target path is the position point corresponding to the first one of the second target coordinates of the second target coordinate sequence, and the second target path is drawn on the interactive panel by the user;

specifically, since the third target coordinate is the coordinate of the position point of the unmanned vehicle under the UWB coordinate system, the first second target coordinate of the second target coordinate sequence is the coordinate of the position point of the start of the first target path under the UWB coordinate system, and if the third target coordinate is different from the first second target coordinate of the second target coordinate sequence, the position point of the unmanned vehicle not under the start of the first target path is determined.

Step S1045, determining a fourth target coordinate sequence according to the third target coordinate sequence and the coordinate mapping relation, where the fourth target coordinate sequence includes a plurality of sixth target coordinates, the sixth target coordinates are in one-to-one correspondence with the fifth target coordinates, and the sixth target coordinates are coordinates of the fifth target coordinates corresponding to the position point in the UWB coordinate system;

step S1046, transmitting, by the cloud server, the fourth target coordinate sequence and the second target coordinate sequence to the unmanned aerial vehicle, so that the unmanned aerial vehicle travels sequentially according to the second target path and the first target path.

Specifically, the process of the user issuing the second target path to the unmanned vehicle is as follows, the user draws the second target path on the greenhouse SLAM map, the control terminal obtains the coordinates (third target coordinate sequence) of the position point on the second target path under the SLAM coordinate system from the interactive panel, the control terminal converts the coordinates (third target coordinate sequence) of the position point on the second target path under the SLAM coordinate system into the coordinates (fourth target coordinate sequence) of the position point on the second target path under the UWB coordinate system, and the coordinates (fourth target coordinate sequence) of the position point on the second target path under the UWB coordinate system are sent to the unmanned vehicle.

Specifically, considering the situation that the unmanned aerial vehicle is not located at the initial position point of the first target path, the user needs to sequentially send the first target path and the second target path to the unmanned aerial vehicle, the initial position point of the second target path is the position point of the unmanned aerial vehicle, the final position point of the second target path is the position point of the initial position point of the first target path, the unmanned aerial vehicle firstly runs according to the second target path, namely, the unmanned aerial vehicle firstly runs from the position point of the unmanned aerial vehicle to the initial position point of the first target path, and then the unmanned aerial vehicle runs according to the first target path.

When the third target coordinate is the same as the first target coordinate of the second target coordinate sequence, the second target coordinate sequence is transmitted to the unmanned vehicle only, and the unmanned vehicle is caused to travel only along the first target route.

In an alternative embodiment, the step S104 may be implemented as:

acquiring an operation mode of the unmanned aerial vehicle from the interactive panel, wherein the operation mode is any one of the following: no operation, inspection and medicine spraying are carried out, and the operation mode is set on the interactive panel by the user;

Specifically, no job is a mere movement.

And sending the second target coordinate sequence and the operation mode to the unmanned aerial vehicle through a cloud server, so that the unmanned aerial vehicle runs according to the first target path, and the unmanned aerial vehicle works according to the operation mode in the running process according to the first target path.

Specifically, the user can issue the first target path and the operation mode to the unmanned vehicle at the same time, the user can configure the operation mode on the interactive panel, the control terminal obtains the operation mode from the interactive panel, and the cloud server sends the coordinates (the second target coordinate sequence) of the position point on the first target path under the UWB coordinate system and the operation mode to the unmanned vehicle at the same time, so that the unmanned vehicle works according to the operation mode in the running process according to the first target path.

In an alternative embodiment, during the step S1046, the method further includes:

within a preset time period, detecting whether the cloud server receives the third target coordinate sent by the unmanned vehicle, and detecting whether the cloud server receives running information sent by the unmanned vehicle, wherein the running information at least comprises: the electric quantity of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle and the heading angle of the unmanned aerial vehicle;

Specifically, the travel information includes: mac address of unmanned vehicle, difference (ms) from current time to 1970.01.01.00:00:00, electric quantity of unmanned vehicle, speed of unmanned vehicle, acceleration of unmanned vehicle, heading angle of unmanned vehicle (value range is-180) ^o ~180 ^o ) And a fault code.

And controlling the interaction panel to display first alarm information when the cloud server does not receive the sixth target coordinate sent by the unmanned aerial vehicle and does not receive the driving information sent by the unmanned aerial vehicle within the preset time, wherein the first alarm information indicates that the unmanned aerial vehicle is lost.

Specifically, the coordinates (sixth target coordinates) and running information of the position point of the unmanned vehicle under the UWB coordinate system are sent to the cloud server at regular time (for example, every 0.5 s), if the control terminal detects that the cloud server does not receive the coordinates (sixth target coordinates) and the running information of the position point of the unmanned vehicle under the UWB coordinate system within a preset time period, namely, within 5 reporting periods (2.5 s), the control terminal determines that the connection of the unmanned vehicle is lost, and controls the interactive panel to display first alarm information so as to warn a user that the connection of the unmanned vehicle is lost.

detecting whether second alarm information exists in the cloud server, and sending the second alarm information to the cloud server by the unmanned aerial vehicle under the condition that the target distance is smaller than a preset distance, wherein the target distance is the distance between the unmanned aerial vehicle and an obstacle around the unmanned aerial vehicle, and the second alarm information indicates that the unmanned aerial vehicle has collision risk;

when the second alarm information exists in the cloud server, a second remote control instruction or a third remote control instruction is sent to the unmanned aerial vehicle through the cloud server, the second remote control instruction at least comprises a running direction of the unmanned aerial vehicle, steering of the unmanned aerial vehicle and an operation mode of the unmanned aerial vehicle, the third remote control instruction at least comprises a preset coordinate sequence and the operation mode of the unmanned aerial vehicle, the preset coordinate sequence comprises a plurality of preset coordinates, one preset coordinate is a coordinate of one position point of a preset path in the UWB coordinate system, the preset path is composed of a plurality of position points of a non-obstacle area of the greenhouse, and the operation mode is any one of the following: no operation, inspection and spraying.

Specifically, in the running process of the unmanned aerial vehicle according to the second target path and the first target path, the unmanned aerial vehicle determines the distance (target distance) between the unmanned aerial vehicle and the surrounding obstacles of the unmanned aerial vehicle in real time, and when the unmanned aerial vehicle determines that the distance (target distance) between the unmanned aerial vehicle and the surrounding obstacles of the unmanned aerial vehicle is smaller than the preset distance, the unmanned aerial vehicle sends second warning information to the cloud server so as to warn that the unmanned aerial vehicle has collision risk, and when the control terminal detects that the cloud server has the second warning information, remote control of the unmanned aerial vehicle is started, and the control terminal sends a second remote control instruction or a third remote control instruction to the unmanned aerial vehicle through the cloud server.

Specifically, the second remote control instruction includes: the driving direction of the unmanned aerial vehicle, the steering of the unmanned aerial vehicle and the operation mode of the unmanned aerial vehicle, wherein the driving direction of the unmanned aerial vehicle comprises: the steering of the unmanned vehicle comprises right turning, left turning and non-turning, and the operation mode is any one of the following modes: no operation, inspection and spraying.

Specifically, the third remote control instruction includes: in some optional embodiments, the preset coordinate sequence and the operation mode of the unmanned vehicle may be that: [ { "x":0, "y":1, "flag":0}, { "x":0, "y":2, "flag":1}, wherein flag indicates the operation mode, flag 2 indicates the operation mode is inspection, flag 1 indicates the operation mode is spraying, flag 0 indicates the operation mode is no operation, and the preset coordinate sequence is [ { "x":0, "y":1}, { "x":0, "y":2} ].

In an alternative embodiment, before the step S103, the method further includes:

and acquiring a coordinate mapping relation from the cloud server, wherein the coordinate mapping relation is sent to the cloud server by the unmanned aerial vehicle.

Specifically, the unmanned vehicle sends the coordinate mapping relation to the cloud server, and the control terminal obtains the coordinate mapping relation from the cloud server, wherein the coordinate mapping relation is shown in table 1.

TABLE 1

It should be noted that, the unmanned vehicle simultaneously transmits the coordinate mapping relationship, the greenhouse id number, the difference (ms) from the current time to 1970.01.01.00:00:00, and the mac address of the unmanned vehicle to the cloud server.

In this embodiment, a greenhouse unmanned vehicle navigation method operating on an unmanned vehicle is provided, and it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that herein.

Fig. 3 is a flowchart of a greenhouse unmanned vehicle navigation method according to an embodiment of the present application. As shown in fig. 3, the method comprises the steps of:

Step S201, establishing a greenhouse SLAM map;

the greenhouse SLAM map is a map of a greenhouse under an SLAM coordinate system, and comprises a map of an obstacle area and a map of a non-obstacle area of the greenhouse;

specifically, an unmanned vehicle loaded with a laser radar is used for carrying out SLAM mapping on the greenhouse, and a greenhouse SLAM map is obtained.

Step S202, the greenhouse SLAM map is sent to the cloud server;

the control terminal is used for acquiring the greenhouse SLAM map from the cloud server and controlling the interactive panel to display the greenhouse SLAM map, the control terminal is used for acquiring a first target coordinate sequence from the interactive panel, the first target coordinate sequence comprises a plurality of first target coordinates, one first target coordinate is the coordinate of one position point of a first target path under the SLAM coordinate system, the first target path is composed of a plurality of position points of a non-obstacle area of the greenhouse, the first target path is drawn by a user on the interactive panel, the control terminal is further used for determining a second target coordinate sequence according to the first target coordinate sequence and a coordinate mapping relation, the coordinate mapping relation is a mapping relation between the coordinate of the position point under the SLAM coordinate system and the coordinate of the position point under the UWB coordinate system, the second target coordinate sequence comprises a plurality of second target coordinates, the second target coordinates and the first target coordinates are in one-to-one correspondence with the coordinate of the position point under the UWB coordinate system, and the second target coordinates are in one-to-one correspondence with the coordinate of the position point under the UWB coordinate system;

Step S203, at least, the cloud server receives the second target coordinate sequence sent by the control terminal, and runs according to the first target path.

In an alternative embodiment, the step S203 may be implemented as:

the step S2031 is configured to send a third target coordinate to the cloud server, where the third target coordinate is a coordinate of the location point where the unmanned aerial vehicle is located in the UWB coordinate system, the control terminal is configured to acquire the third target coordinate from the cloud server, the control terminal is further configured to determine a fourth target coordinate based on the third target coordinate and the coordinate mapping relationship, the fourth target coordinate is a coordinate of the location point where the unmanned aerial vehicle is located in the SLAM coordinate system, the control terminal is further configured to control the location point where the unmanned aerial vehicle is located in the greenhouse SLAM coordinate system based on the fourth target coordinate, the control terminal is further configured to acquire a third target coordinate sequence from the interactive panel when the third target coordinate is different from a first one of the second target coordinate sequence, the third target coordinate sequence includes a plurality of fifth target coordinates, the fifth target coordinate is a coordinate of the location point where the unmanned aerial vehicle is located in the SLAM coordinate system, the second target coordinate sequence is mapped to the second one of the second target coordinate sequence, the control terminal is configured to map the location point where the second target point is located in the second coordinate sequence, and the second target coordinate sequence is not located in the second target sequence, and the second target sequence is mapped to the second target coordinate sequence, the fourth target coordinate sequence includes a plurality of sixth target coordinates, where the sixth target coordinates correspond to the fifth target coordinates one by one, and the sixth target coordinates are coordinates of the fifth target coordinates corresponding to the position point in the UWB coordinate system;

In step S2032, the cloud server receives the fourth target coordinate sequence and the second target coordinate sequence sent by the control terminal, and sequentially travels along the second target path and the first target path.

In an alternative embodiment, the step S203 may be implemented as:

the cloud server receives the second target coordinate sequence and the operation mode sent by the control terminal, the control terminal runs according to the first target path and works according to the operation mode in the running process according to the first target path, the control terminal is used for acquiring the operation mode from the interaction panel, and the operation mode is any one of the following: no operation, inspection and spraying.

In an alternative embodiment, in the process of sequentially traveling along the second target path and the first target path in step S2032, the method includes:

and sending the third target coordinates and running information to the cloud server at regular time, wherein the running information at least comprises: the electric quantity of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle and the heading angle of the unmanned aerial vehicle.

acquiring a target distance, wherein the target distance is a distance between the unmanned vehicle and an obstacle around the unmanned vehicle;

when the target distance is smaller than a preset distance, the unmanned vehicle sends second alarm information to the cloud server, wherein the second alarm information indicates that the unmanned vehicle has collision risk;

when the cloud server receives a second remote control command sent by the control terminal, the second remote control command is executed according to the second remote control command, wherein the second remote control command at least comprises a running direction of the unmanned vehicle, steering of the unmanned vehicle and an operation mode of the unmanned vehicle, and the operation mode is any one of the following: no operation, inspection and spraying;

and under the condition that the cloud server receives a third remote control command sent by the control terminal, the third remote control command operates according to the third remote control command, wherein the third remote control command at least comprises a preset coordinate sequence and the operation mode of the unmanned vehicle, the preset coordinate sequence comprises a plurality of preset coordinates, one preset coordinate is the coordinate of one position point of a preset path under the UWB coordinate system, and the preset path consists of a plurality of position points of a non-obstacle area of the greenhouse.

Specifically, the third remote control instruction includes: in some optional embodiments, the preset coordinate sequence and the operation mode of the unmanned vehicle may be that: [ { "x":0, "y":1, "flag":0}, { "x":0, "y":2, "flag":1}, wherein flag represents an operation mode, flag is 2 representing an operation mode inspection, flag is 1 representing an operation mode as spraying, flag is 0 representing an operation mode as no operation, and the preset coordinate sequence is [ { "x":0, "y":1}, { "x":0, "y":2} ].

It should be noted that, in the process that the unmanned aerial vehicle executes the second remote control command or the third remote control command, the unmanned aerial vehicle feeds back the state to the control terminal in a staged manner through the cloud server, and the state includes: the method comprises the steps of waiting for execution of a preset path, moving according to the preset path, ending execution of the preset path, no operation, waiting for execution of inspection, inspecting, ending execution of inspection, spraying medicine, waiting for execution, spraying medicine and ending execution of spraying medicine.

In an alternative embodiment, the step S201 may be implemented as:

acquiring coordinates of a plurality of position points of the greenhouse in the SLAM coordinate system, and acquiring coordinates of a plurality of position points of the greenhouse in the UWB coordinate system;

establishing the coordinate mapping relation according to the coordinates of a plurality of position points of the greenhouse under the SLAM coordinate system and the coordinates of a plurality of position points of the greenhouse under the UWB coordinate system;

and sending the coordinate mapping relation to the cloud server.

Specifically, in the process of establishing a greenhouse SLAM map, the unmanned vehicle randomly moves to a plurality of position points of the greenhouse, the coordinate of the corresponding position point under a UWB coordinate system is obtained through a UWB positioning system, the coordinate of the corresponding position point under the SLAM coordinate system is obtained through the SLAM system, a coordinate mapping relation is established according to the coordinate of the plurality of position points of the greenhouse under the SLAM coordinate system and the coordinate of the plurality of position points of the greenhouse under the UWB coordinate system, the unmanned vehicle sends the coordinate mapping relation to a cloud server, and the control terminal obtains the coordinate mapping relation from the cloud server, wherein the coordinate mapping relation is shown in table 1.

TABLE 1

The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:

the coordinate mapping relationship is a mapping relationship between coordinates of the position point in the SLAM coordinate system and coordinates of the position point in the UWB coordinate system, the second target coordinate sequence includes a plurality of second target coordinates, the second target coordinates are in one-to-one correspondence with the first target coordinates, and the second target coordinates are coordinates of the position point in the UWB coordinate system corresponding to the first target coordinates;

Step S201, establishing a greenhouse SLAM map;

step S202, the greenhouse SLAM map is sent to the cloud server;

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that 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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) In the greenhouse unmanned vehicle navigation method running on the control terminal, the unmanned vehicle creates a greenhouse SLAM map and sends the greenhouse SLAM map to the cloud server, the control terminal acquires the greenhouse SLAM map from the cloud server and controls the interactive panel to display the greenhouse SLAM map, a user draws a first target path on the greenhouse SLAM map, the control terminal acquires the coordinates of the position points on the first target path under the SLAM coordinate system from the interactive panel, the control terminal converts the coordinates of the position points on the first target path under the SLAM coordinate system into the coordinates under the UWB coordinate system, and the coordinates of the position points on the first target path under the UWB coordinate system are sent to the unmanned vehicle, so that the unmanned vehicle runs according to the first target path.

2) In the greenhouse unmanned vehicle navigation method running on the unmanned vehicle, the unmanned vehicle creates a greenhouse SLAM map and sends the greenhouse SLAM map to the cloud server, the control terminal acquires the greenhouse SLAM map from the cloud server and controls the interactive panel to display the greenhouse SLAM map, a user draws a first target path on the greenhouse SLAM map, the control terminal acquires the coordinates of the position points on the first target path under the SLAM coordinate system from the interactive panel, the control terminal converts the coordinates of the position points on the first target path under the SLAM coordinate system into the coordinates under the UWB coordinate system, and the coordinates of the position points on the first target path under the UWB coordinate system are sent to the unmanned vehicle, so that the unmanned vehicle runs according to the first target path.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. The utility model provides a big-arch shelter unmanned vehicles navigation method, its characterized in that, big-arch shelter unmanned vehicles navigation includes unmanned vehicles, high in the clouds server and control terminal, unmanned vehicles with high in the clouds server communication connection, high in the clouds server with control terminal communication connection, the method is applied to control terminal, control terminal is provided with interactive panel, the method includes:

at least acquiring a greenhouse SLAM map from the cloud server, and controlling the interaction panel to display the greenhouse SLAM map, wherein the greenhouse SLAM map is a map of a greenhouse under an SLAM coordinate system, comprises a map of an obstacle area and a map of a non-obstacle area of the greenhouse, and is created by the unmanned vehicle and sent to the cloud server;

acquiring a first target coordinate sequence from the interactive panel, wherein the first target coordinate sequence comprises a plurality of first target coordinates, one first target coordinate is the coordinate of one position point of a first target path under the SLAM coordinate system, the first target path consists of a plurality of position points of a non-obstacle area of the greenhouse, and the first target path is drawn on the interactive panel by a user;

Determining a second target coordinate sequence according to the first target coordinate sequence and a coordinate mapping relation, wherein the coordinate mapping relation is a mapping relation between the coordinates of the position point under the SLAM coordinate system and the coordinates of the position point under the UWB coordinate system, the second target coordinate sequence comprises a plurality of second target coordinates, the second target coordinates correspond to the first target coordinates one by one, and the second target coordinates are the coordinates of the first target coordinates corresponding to the position point under the UWB coordinate system;

and at least transmitting the second target coordinate sequence to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs according to the first target path.

2. The method of claim 1, wherein transmitting the second target coordinate sequence to the drone via at least the cloud server to cause the drone to travel along the first target path, comprises:

acquiring a third target coordinate from the cloud server, wherein the third target coordinate is a coordinate of the position point where the unmanned vehicle is located under the UWB coordinate system, and the third target coordinate is sent to the cloud server by the unmanned vehicle;

Determining a fourth target coordinate according to the third target coordinate and the coordinate mapping relation, wherein the fourth target coordinate is the coordinate of the position point where the unmanned vehicle is located under the SLAM coordinate system;

according to the fourth target coordinates, controlling the interactive panel to display the position point of the unmanned vehicle on the greenhouse SLAM map;

acquiring a third target coordinate sequence from the interactive panel under the condition that the third target coordinate is different from the first target coordinate of the second target coordinate sequence, wherein the third target coordinate sequence comprises a plurality of fifth target coordinates, one fifth target coordinate is the coordinate of one position point of a second target path under the SLAM coordinate system, the second target path consists of a plurality of position points of a non-obstacle area of the greenhouse, the initial position point of the second target path is the position point of the unmanned vehicle, the final position point of the second target path is the position point corresponding to the first second target coordinate of the second target coordinate sequence, and the second target path is drawn on the interactive panel by the user;

Determining a fourth target coordinate sequence according to the third target coordinate sequence and the coordinate mapping relation, wherein the fourth target coordinate sequence comprises a plurality of sixth target coordinates, the sixth target coordinates are in one-to-one correspondence with the fifth target coordinates, and the sixth target coordinates are coordinates, corresponding to the fifth target coordinates, of the position point under the UWB coordinate system;

and sending the fourth target coordinate sequence and the second target coordinate sequence to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs sequentially according to the second target path and the first target path.

3. The method of claim 1, wherein transmitting the second target coordinate sequence to the drone via at least the cloud server to cause the drone to travel along the first target path, comprises:

and sending the second target coordinate sequence and the operation mode to the unmanned aerial vehicle through the cloud server, so that the unmanned aerial vehicle runs according to the first target path, and the unmanned aerial vehicle works according to the operation mode in the running process according to the first target path.

4. The method of claim 2, wherein in transmitting the fourth target coordinate sequence and the second target coordinate sequence to the drone through the cloud server, the drone is caused to travel sequentially along the second target path and the first target path, the method further comprises:

within a preset time length, detecting whether the cloud server receives the third target coordinate sent by the unmanned vehicle or not, and detecting whether the cloud server receives running information sent by the unmanned vehicle or not, wherein the running information at least comprises: the electric quantity of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle and the heading angle of the unmanned aerial vehicle;

and controlling the interaction panel to display first alarm information when the cloud server does not receive the sixth target coordinate sent by the unmanned aerial vehicle and does not receive the driving information sent by the unmanned aerial vehicle within the preset time, wherein the first alarm information indicates that the connection of the unmanned aerial vehicle is lost.

5. The method of claim 2, wherein in transmitting the fourth target coordinate sequence and the second target coordinate sequence to the drone through the cloud server, the drone is caused to travel sequentially along the second target path and the first target path, the method further comprises:

Detecting whether second alarm information exists in the cloud server, and sending the second alarm information to the cloud server by the unmanned vehicle under the condition that the target distance is smaller than a preset distance, wherein the target distance is the distance between the unmanned vehicle and surrounding obstacles of the unmanned vehicle, and the second alarm information indicates that collision risk exists in the unmanned vehicle;

under the condition that the second alarm information exists in the cloud server, a second remote control instruction or a third remote control instruction is sent to the unmanned aerial vehicle through the cloud server, the second remote control instruction at least comprises the running direction of the unmanned aerial vehicle, the steering direction of the unmanned aerial vehicle and the operation mode of the unmanned aerial vehicle, the third remote control instruction at least comprises a preset coordinate sequence and the operation mode of the unmanned aerial vehicle, the preset coordinate sequence comprises a plurality of preset coordinates, one preset coordinate is the coordinate of one position point of a preset path under the UWB coordinate system, the preset path is composed of a plurality of position points of a non-obstacle area of the greenhouse, and the operation mode is any one of the following: no operation, inspection and spraying.

6. The method of claim 1, wherein prior to determining a second target coordinate sequence from the first target coordinate sequence and the coordinate mapping relationship, the method further comprises:

7. The utility model provides a big-arch shelter unmanned vehicles navigation method which characterized in that, big-arch shelter unmanned vehicles navigation includes unmanned vehicles, high in the clouds server and control terminal, unmanned vehicles with high in the clouds server communication connection, high in the clouds server with control terminal communication connection, the method is applied to unmanned vehicles, control terminal is provided with interactive panel, the method includes:

establishing a greenhouse SLAM map, wherein the greenhouse SLAM map is a map of a greenhouse under an SLAM coordinate system, and comprises a map of an obstacle area and a map of a non-obstacle area of the greenhouse;

the greenhouse SLAM map is sent to the cloud server, the control terminal is used for obtaining the greenhouse SLAM map from the cloud server and controlling the interaction panel to display the greenhouse SLAM map, the control terminal is used for obtaining a first target coordinate sequence from the interaction panel, the first target coordinate sequence comprises a plurality of first target coordinates, one first target coordinate is the coordinate of one position point of a first target path in an SLAM coordinate system, the first target path is composed of a plurality of position points of a non-obstacle area of the greenhouse, the first target path is drawn on the interaction panel by a user, the control terminal is further used for determining a second target coordinate sequence according to the first target coordinate sequence and a coordinate mapping relation, the coordinate mapping relation is a mapping relation between the coordinate of the position point in the SLAM coordinate system and the coordinate of the position point in a UWB coordinate system, the second target coordinate sequence comprises a plurality of second target coordinates, and the second target coordinate corresponds to the first target point in the UWB coordinate system;

And at least receiving the second target coordinate sequence sent by the control terminal through the cloud server, and driving according to the first target path.

8. The method of claim 7, wherein receiving, at least by the cloud server, the second target coordinate sequence sent by the control terminal and traveling according to the first target path, comprises:

the third target coordinates are the coordinates of the position points of the unmanned aerial vehicle in the UWB coordinate system, the control terminal is used for acquiring the third target coordinates from the cloud server, the control terminal is also used for determining a fourth target coordinate according to the third target coordinates and the coordinate mapping relation, the fourth target coordinates are the coordinates of the position points of the unmanned aerial vehicle in the SLAM coordinate system, the control terminal is also used for controlling the interactive panel to display the position points of the unmanned aerial vehicle in the SLAM map according to the fourth target coordinates, the control terminal is also used for acquiring a third target coordinate sequence from the interactive panel under the condition that the third target coordinates are different from the first target coordinates of the second target coordinate sequence, the third target coordinate sequence comprises a plurality of fifth target coordinates, the first target coordinates are the coordinates of the position points of the second target path in the SLAM map under the SLAM map, the position points of the interactive panel are also used for drawing the position points of the interactive panel in the second target path, the position points of the interactive panel are not corresponding to the second target path sequence, the control terminal is also used for drawing the position points of the interactive panel in the second target path in the position coordinate sequence according to the second target coordinate sequence, the fourth target coordinate sequence comprises a plurality of sixth target coordinates, the sixth target coordinates are in one-to-one correspondence with the fifth target coordinates, and the sixth target coordinates are coordinates, corresponding to the fifth target coordinates, of the position point under the UWB coordinate system;

And receiving the fourth target coordinate sequence and the second target coordinate sequence which are sent by the control terminal through the cloud server, and sequentially driving according to the second target path and the first target path.

9. The method of claim 7, wherein receiving, at least by the cloud server, the second target coordinate sequence sent by the control terminal and traveling according to the first target path, comprises:

10. The method of claim 8, wherein during traveling sequentially along the second target path and the first target path, the method further comprises:

the third target coordinates and the running information are sent to the cloud server at regular time, and the running information at least comprises: the electric quantity of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, the acceleration of the unmanned aerial vehicle and the heading angle of the unmanned aerial vehicle.

11. The method of claim 8, wherein during traveling sequentially along the second target path and the first target path, the method further comprises:

acquiring a target distance, wherein the target distance is the distance between the unmanned vehicle and an obstacle around the unmanned vehicle;

when the target distance is smaller than a preset distance, the unmanned vehicle sends second warning information to the cloud server, wherein the second warning information indicates that the unmanned vehicle has collision risk;

under the condition that the cloud server receives a second remote control instruction sent by the control terminal, the second remote control instruction operates according to the second remote control instruction, wherein the second remote control instruction at least comprises a driving direction of the unmanned vehicle, steering of the unmanned vehicle and an operation mode of the unmanned vehicle, and the operation mode is any one of the following: no operation, inspection and spraying;

under the condition that the cloud server receives a third remote control instruction sent by the control terminal, the third remote control instruction operates according to the third remote control instruction, the third remote control instruction at least comprises a preset coordinate sequence and the operation mode of the unmanned vehicle, the preset coordinate sequence comprises a plurality of preset coordinates, one preset coordinate is the coordinate of one position point of a preset path under the UWB coordinate system, and the preset path consists of a plurality of position points of a non-obstacle area of the greenhouse.

12. The method of claim 7, wherein in the process of creating a greenhouse SLAM map, the method further comprises:

acquiring coordinates of a plurality of position points of the greenhouse under the SLAM coordinate system, and acquiring coordinates of a plurality of position points of the greenhouse under the UWB coordinate system;

and sending the coordinate mapping relation to the cloud server.

13. A greenhouse unmanned vehicle navigation system, the system comprising:

a UWB base station;

an unmanned vehicle provided with a UWB tag, a laser radar and an ultrasonic device, the unmanned vehicle being in communication link with the UWB base station, the unmanned vehicle being configured to perform the greenhouse unmanned vehicle navigation method of any one of claims 7 to 12;

the cloud server is in communication connection with the unmanned vehicle;

the control terminal is provided with an interaction panel, and is in communication connection with the cloud server, and the control terminal is used for executing the greenhouse unmanned vehicle navigation method according to any one of claims 1 to 6.