WO2019227948A1 - 目标区域作业的规划方法、装置、存储介质及处理器 - Google Patents
目标区域作业的规划方法、装置、存储介质及处理器 Download PDFInfo
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Definitions
- the present invention relates to the field of computers, and in particular, to a method, a device, a storage medium, and a processor for planning a target area operation.
- Orchard plant protection is mainly concerned with the control of disease and insect pests of fruit trees. Only proper management of fruit trees can produce high-quality fruits. Compared to farmland plant protection, the density of orchard plants is low. If the field operation method is adopted, it is easy to cause waste of pesticides and water resources. However, if manual precision positioning is used, additional procedures will be added for plant protection, which will waste more human, material and financial resources.
- At least some embodiments of the present invention provide a method, a device, a storage medium, and a processor for planning a target area operation to solve at least the technical problems that the orchard plant protection method used in the related technology is likely to cause waste of resources and higher costs .
- a method for planning a target area operation including:
- map image information of the target area to be operated identify multiple sub-areas contained in the target area of the work from the map image information, wherein the multiple sub-areas correspond to multiple objects to be operated; plan the operation of the equipment in the standby area according to the multiple sub-areas.
- the action path within the work target area to control the work equipment to traverse multiple sub-areas when working along the action path.
- identifying the multiple sub-regions contained in the target area to be operated from the map image information includes: identifying the geometric center position of each sub-region in the multiple sub-regions and the outer contour of each sub-region from the map image information.
- the geometric center position is the center position of the circle; when the outer contour is rectangular, the geometric center position is the center position of the rectangle; when the outer contour is oval, the geometric center position is The center position of the ellipse; when the outer contour is an irregular shape, the geometric center position is the centroid position of the irregular shape.
- planning the action path of the work equipment in the target area according to multiple sub-regions includes: generating a transition path that traverses multiple target objects in the target region based on the geometric center position of each of the multiple sub-regions; Based on the outer contours of each of the multiple sub-areas, plan the work path of multiple to-be-worked objects; add the work path to the transition path to generate the action path of the work equipment in the to-be-targeted area.
- generating a transition path for traversing a plurality of to-be-operated objects in a to-be-operated target area based on the geometric center position of each of the plurality of sub-areas includes: a selection step of selecting, from the plurality of sub-areas, the closest distance to the take-off position of the work equipment The sub-region is the starting sub-region; the establishment step starts from the geometric center position of the starting sub-region, searches for the geometric center position of the adjacent sub-region nearest to the current sub-region in order, and establishes between the adjacent geometric center positions Transition path; a determination step, which determines whether there are sub-areas that are not yet connected, and if so, returns to the establishment step, until a transition path is generated that traverses multiple objects to be operated.
- planning the work path of multiple to-be-operated objects based on the outer contours of each of the multiple sub-regions includes: a determining step of determining the actual area of the current sub-region based on the outer contours of the current sub-region selected from the multiple sub-regions ; The first judgment step, when the actual area is less than the preset area, the fixed-point rotation operation path is used; when the actual area is greater than or equal to the preset area, the spiral operation path and / or the round-trip operation path are used; the second judgment step, the judgment is more Whether all the sub-areas are planned, and if not, return to the determination step, so as to plan the work path for the to-be-operated objects in the next sub-area adjacent to the current sub-area, until the work paths of multiple to-be-operated objects are all planned.
- the first determining step includes: determining a preset area according to the working width of the work equipment, and when the maximum diameter of the current sub-area is smaller than the working width, a fixed-point rotation work path is adopted; when the maximum diameter of the current sub-area is greater than or When the working width is equal to the working width, a spiral working path and / or a round-trip working path are used.
- the adjacent Two or more sub-regions are identified as one sub-region.
- the method before controlling the work equipment to traverse multiple sub-areas while working along the action path, the method further includes: obtaining a first height, a second height, a third height, and a fourth height, where the first height is each to-be-worked
- the surveying and mapping altitude of the object the second altitude is the altitude of the take-off point of the working equipment, the third altitude is the height of each to-be-operated object, and the fourth altitude is a preset height added to the height of each to-be-operated object;
- the first altitude, the second altitude, the third altitude, and the fourth altitude are used to calculate the actual flying altitude of the operation equipment.
- a device for planning a target area operation including:
- the first acquisition module is configured to acquire map image information of the target region to be operated; the identification module is configured to identify a plurality of sub-regions included in the target region from the map image information, where the multiple sub-regions are related to multiple objects to be operated Corresponding; the planning module is configured to plan the action path of the work equipment in the target area to be operated according to multiple sub-areas, so as to control the work equipment to traverse multiple sub-areas when working along the action path.
- the identification module is configured to identify a geometric center position of each of the plurality of subregions and an outer contour of each subregion from the map image information.
- the geometric center position is the center position of the circle; when the outer contour is rectangular, the geometric center position is the center position of the rectangle; when the outer contour is oval, the geometric center position is The center position of the ellipse; when the outer contour is an irregular shape, the geometric center position is the centroid position of the irregular shape.
- the planning module includes: a generating unit configured to generate a transition path traversing a plurality of to-be-operated objects in a target region based on a geometric center position of each of the multiple sub-regions; a planning unit configured to be based on a plurality of sub-regions The outer contour of each sub-area in the planning of the work path of multiple to-be-worked objects; the processing unit is configured to add the work path to the transition path to generate an action path of the work equipment in the to-be-worked target area.
- the generating unit includes: selecting a sub-unit configured to select a sub-region closest to the take-off position of the operating equipment from a plurality of sub-regions as a starting sub-region; establishing a sub-unit configured to set the geometry from the starting sub-region Starting from the center position, sequentially find the geometric center position of the adjacent sub-region closest to the current sub-region, and establish a transition path between the adjacent geometric center positions; determine the sub-units, set to determine whether there are sub-regions that are not yet connected, If so, return to establishing a subunit until a transition path is generated that traverses multiple objects to be operated.
- the planning unit includes: a determination subunit configured to determine an actual area of the current subarea according to an outer contour of the current subarea selected from the plurality of subareas; and a first determination subunit configured to be set when the actual area is less than a preset When the area is fixed, a fixed-point rotation work path is used; when the actual area is greater than or equal to the preset area, a spiral work path and / or a round-trip work path are used; the second judgment subunit is set to determine whether multiple sub-areas are all planned, if not , Then return to the determination subunit, so as to plan the work path for the to-be-operated objects in the next sub-area adjacent to the current sub-area, until the work paths of multiple to-be-operated objects are all planned.
- the first judging sub-unit is configured to determine a preset area according to the working width of the working equipment.
- a fixed-point rotation work path is adopted; when the maximum diameter of the current sub-area
- a spiral working path and / or a round-trip working path are used.
- the adjacent Two or more sub-regions are identified as one sub-region.
- the above device further includes: a second acquisition module configured to acquire a first height, a second height, a third height, and a fourth height, wherein the first height is a surveying altitude of each object to be operated, and the first The second height is the altitude of the take-off point of the work equipment, the third height is the height of each to-be-worked object, and the fourth height is a preset height added to the height of each to-be-worked object; the calculation module is set to use the first The first altitude, the second altitude, the third altitude, and the fourth altitude calculate the actual flying altitude of the operation equipment.
- a second acquisition module configured to acquire a first height, a second height, a third height, and a fourth height, wherein the first height is a surveying altitude of each object to be operated, and the first The second height is the altitude of the take-off point of the work equipment, the third height is the height of each to-be-worked object, and the fourth height is a preset
- a storage medium is also provided.
- the storage medium includes a stored program, and during the program running, a device in which the storage medium is located is controlled to execute the above-mentioned target area job planning method.
- a processor is further provided.
- the processor is configured to run a program, and the program executes the foregoing target area job planning method when the program is run.
- a method of acquiring map image information of a target area to be operated and identifying multiple sub-areas corresponding to a plurality of target objects included in the target area from the map image information according to Multiple sub-areas plan the action path of the work equipment in the target area to be operated and control the work equipment to traverse multiple sub-areas while working along the action path, so that in actual application, only the target area to be operated is selected, and then the system will directly
- the orchard plant protection method used in the technology is easy to cause waste of resources and higher cost technical problems.
- FIG. 1 is a flowchart of a method for planning a target area operation according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of extracting part of data from a high-definition map image for labeling according to a preferred embodiment of the present invention
- FIG. 3 is a schematic diagram of identifying a geometric center position of each sub-region from map image information according to a preferred embodiment of the present invention
- FIG. 4 is a schematic diagram of a transition path planning process according to a preferred embodiment of the present invention.
- FIG. 5 is a structural block diagram of a device for planning a target area operation according to one embodiment of the present invention.
- FIG. 6 is a structural block diagram of a device for planning a target area operation according to a preferred embodiment of the present invention.
- an embodiment of a method for planning a target area operation is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be in a computer system such as a set of computer-executable instructions. Perform, and although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.
- FIG. 1 is a flowchart of a method for planning a target area operation according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
- Step S12 obtaining map image information of the target area to be operated
- Step S14 identifying a plurality of sub-areas included in the target area to be operated from the map image information, where the plurality of sub-areas correspond to a plurality of objects to be operated;
- step S16 the action path of the work equipment in the target area to be operated is planned according to the multiple sub-areas, so as to control the work equipment to traverse the multiple sub-areas when working along the action path.
- a method of acquiring map image information of a target area to be operated and identifying multiple sub-areas corresponding to multiple objects to be operated included in the target area to be operated from the map image information may be planned according to the multiple sub-areas.
- the location of the area and the obtained high-definition image generate the action path of the entire target area to be operated, thereby achieving the technical effect of not only achieving accurate plant protection but also reducing a large amount of labor costs, thereby solving the problems in the related technology.
- the orchard plant protection method is easy to cause waste of resources and higher cost technical problems.
- the above method is generally applied to a control terminal for remotely operating a drone.
- the above-mentioned map images include two-dimensional maps, three-dimensional maps, DSM maps, pictures, videos, pictures, and the like.
- the target area to be operated may include, but is not limited to, an orchard plant protection area (for example, an apple orchard plant protection area), a fruit picking area (for example, an apple picking area), a fruit pruning area (for example, a grape pruning area, a cotton pruning area) ),
- a field area (a wheat field harvesting area), which includes a plurality of objects to be operated in the target area to be operated, for example, when the area to be operated is an orchard, the object to be operated is a fruit tree; when the target area to be operated is When it is a field, the object to be operated is a piece of crop such as wheat.
- the above-mentioned work equipment may be a drone with a plant protection work function, or it may be a ground work equipment, such as a
- identifying a plurality of sub-areas included in the target area to be operated from the map image information may include the following execution steps:
- step S141 the geometric center position of each sub-region in the multiple sub-regions and the outer contour of each sub-region are identified from the map image information.
- the geometric center position when the outer contour is circular, the geometric center position may be a circle center position; when the outer contour is rectangular, the geometric center position may be a rectangular center position; when the outer contour is elliptical, the geometric center position may be It can be the center position of the ellipse; when the outer contour is an irregular shape, the geometric center position can be the centroid position of the irregular shape.
- it is usually necessary to further label it in the map image.
- the present invention is not limited to the labeling form, as long as it can identify the outer contour and the center position. For example, three points are used to label a circle. The skilled person can understand that when three points are marked, the outer contour and center of the circle can be obtained according to the usual algorithm.
- Another example is to use a rectangular frame to mark a rectangular area, another example is to use four points to mark a rectangular area, another example is to use a circle center to mark the center position of a circular area, and use a circular frame to mark the outer contour of the center area.
- a mapping drone or an aerial drone is used to obtain a high-definition map image. Then, in view of the large amount of data contained in the acquired map image, for this reason, it is necessary to extract part of the data from the acquired map image (for example, a partial image with high visibility) for labeling as a training set.
- the labeling method is based on the high-definition map image collected by the drone.
- the edges of each fruit tree are manually labeled with a preset shape (for example, a circle), and then the corresponding round frame data is automatically generated by the terminal.
- the round frame data may include, but is not limited to, true circle center position and radius data of each fruit tree in the high-definition map image.
- FIG. 2 is a schematic diagram of extracting part of data from a high-definition map image for labeling according to a preferred embodiment of the present invention.
- the left side is the input original image
- the right side is the visibility extracted from the original image.
- the higher part of the data is annotated image.
- the circular lines that appear in the image on the right are the data for the labeled boundaries.
- the deep network model is mainly obtained through repeated training based on the above-mentioned circularly labeled target detection.
- the specific process is as follows: First, the original image (usually an RGB image with a resolution of 256 ⁇ 256) is taken as an input item and a feature map (usually a small-sized and layered abstraction) is obtained through a convolutional neural network (CNN) Image, its resolution can be 16 ⁇ 16).
- CNN convolutional neural network
- the convolutional neural network is a pre-trained classification network.
- the bottom layer i.e.
- the feature map is subjected to a convolution process with a kernel of 1 to output position information (loc) and the probability of all target classifications (logits (c 1 , c 2 , ... c p )).
- loc can be expressed as ⁇ (cx, cy, radius), where cx, cy represents the center point of the target circle, and radius represents the offset value of the radius. Logits are mainly used to distinguish fruit trees from other objects and backgrounds.
- P is the positive target (the target is the fruit tree)
- Neg is the negative target (the target is the background)
- l is the true parameter of the labeled circle
- g is the predicted parameter of the labeled circle
- d is the default circle parameter
- smooth L1 is the loss function.
- FIG. 3 is a schematic diagram of identifying a geometric center position of each sub-region from map image information according to a preferred embodiment of the present invention.
- the system can The orchard high-resolution map image can accurately identify and label the geometric center position of each of the multiple sub-regions from the map image information by using AI image recognition technology.
- the action path planning can be completed by using the geometric center position of each fruit tree.
- two or more adjacent sub-regions may be determined as one sub-region.
- planning the action path of the work equipment in the target area to be operated according to multiple sub-areas may include the following execution steps:
- Step S161 Generate a transition path that traverses a plurality of objects to be operated in a target area to be operated based on the geometric center position of each of the plurality of sub-areas;
- Step S162 Plan the work paths of multiple objects to be worked based on the outer contour of each of the multiple sub-areas
- Step S163 Add a work path to the transition path to generate an action path of the work equipment in the target area to be worked.
- the geometric center position of each fruit tree is accurately identified from the high-definition image of the orchard to be operated through the above-mentioned deep learning and computer vision.
- a transition path for traversing each fruit tree in the orchard to be operated is generated according to the pixel coordinates of the geometric center position of each of the multiple sub-regions. This transition path is used to determine the sequential spraying order of each fruit tree in the entire orchard.
- the working path of each fruit tree is planned according to the outer contour of each sub-region.
- the work path is used to determine the spraying method of each fruit tree in the entire orchard.
- a complete set of action paths capable of spraying all fruit trees in the entire orchard is formed.
- step S161 generating a transition path for traversing a plurality of objects to be operated in the target region based on the geometric center position of each of the plurality of sub-regions may include the following execution steps:
- Step S1611 the sub-area closest to the take-off position of the operating equipment is selected as the starting sub-area from the multiple sub-areas;
- Step S1612 starting from the geometric center position of the starting sub-region, sequentially searching for the geometric center position of the adjacent sub-region closest to the current sub-region, and establishing a transition path between the adjacent geometric center positions;
- step S1613 it is determined whether there are sub-areas that are not yet connected, and if so, return to step S1612 until a transition path is generated that traverses multiple objects to be operated.
- the drone In the process of generating the transition path, first, the drone needs to select a sub-area from a plurality of sub-areas that is closest to the geometric center position of the drone's take-off position as the starting sub-area; second, from the geometric center of the starting sub-area At the beginning of the position, according to the shortest path algorithm, the sub-area nearest to the current geometric center position is selected from the adjacent one or more geometric center positions; then, a line is used between the current sub-region and the selected adjacent sub-region.
- a transition path is established between two geometric center positions. In the end, all the geometric center positions marked in the high-definition image are connected to each other without repeating one another to obtain the transition path that the drone travels between the fruit trees in the entire orchard.
- Fig. 4 is a schematic diagram of a transition path planning process according to one of the preferred embodiments of the present invention.
- the geometric center positions of each fruit tree in the orchard are obtained by inputting the original image (A1, A2, ... A35). Afterwards, the fruit tree closest to the drone's takeoff position can be used as the starting point of departure. Assuming that the fruit tree closest to the drone's take-off position is the fruit tree where A1 is located, the sub-region where A1 is located is the starting sub-region.
- planning the work paths of multiple to-be-operated objects based on the outer contour of each of the multiple sub-regions may include the following execution steps:
- Step S1621 Determine the actual area of the current sub-region according to the outer contour of the current sub-region selected from the multiple sub-regions;
- Step S1622 when the actual area is smaller than the preset area, a fixed-point rotation work path is used; when the actual area is greater than or equal to the preset area, a spiral work path and / or a round-trip work path is used;
- Step S1623 it is determined whether all the sub-areas have been planned. If not, the process returns to step S1621, so as to plan the work path for the to-be-operated objects in the next sub-area adjacent to the current sub-area until the work paths of the multiple to-be-operated objects All planning is completed.
- the preset area may be determined according to the working width of the working equipment (usually 1.5 m-3 m).
- a fixed-point rotation working path can be adopted. For example: control the drone to hover above the corresponding geometric center position of the current sub-area, and spray pesticides to the current fruit tree through the rotation operation method.
- the spiral work path is particularly suitable for fruit tree plant protection services in hilly areas, and can automatically plan spraying paths based on surveying and mapping information and the growth of fruit trees. If the diameter of the crown of the fruit tree is small, no one will spin on the fruit tree for a week to spray. If the diameter of the crown of the fruit tree is large, the drone will fly above the fruit tree with the crown as the center and fly from the center to the surrounding area.
- the drone will only turn on the sprayer when it is flying over the fruit tree to perform the route, and the sprayer is turned off at other times to ensure that the pesticide is effectively sprayed on the leaves.
- the drone can be controlled to spray pesticides on the current fruit tree using a round-wave or round-wave operation over the current sub-area.
- step S16 before the control work equipment traverses a plurality of sub-areas while working along the action path, it may further include the following execution steps:
- Step S17 Obtain a first altitude, a second altitude, a third altitude, and a fourth altitude, where the first altitude is the surveying altitude of each object to be operated, the second altitude is the altitude of the take-off point of the operating equipment, and the third The height is the height of each to-be-worked object, and the fourth height is a preset height added to the height of each to-be-worked object;
- step S18 the actual flying height of the work equipment is calculated using the first altitude, the second altitude, the third altitude, and the fourth altitude.
- the actual altitude of the fruit tree can be determined either by a three-dimensional digital surface model (DSM) map or by mapping data.
- DSM digital surface model
- the height of the fruit tree can be measured manually, but it can also be determined by the distance sensor of the working machine. It can be seen that the planning of the action path is actually three-dimensional.
- the drone can use the global navigation satellite system (GNSS) real-time differential positioning (RTK) navigation component to provide altitude data for the drone to perform fixed altitude flight.
- GNSS global navigation satellite system
- RTK real-time differential positioning
- the flying height is affected by the height of the crop and the surrounding environment. Generally, the flying height is 1.5-2.5 meters from the plant canopy. If you use RTK to determine the height, you need to refer to the terrain difference and choose an appropriate height.
- the surveying and mapping equipment can record not only latitude and longitude information, but also elevation information. Therefore, during the surveying and mapping process, the surveyor needs to maintain a vertical touch to the ground to ensure the collected elevation data. Accurate.
- the flying height of the drone for each fruit tree is based on the altitude of the water level at the takeoff point, and is calculated by combining the altitude of the fruit tree mapping, the height of the fruit tree itself and the height from the treetop. The specific calculation formula is as follows:
- UAV flight altitude (altitude of fruit tree mapping-altitude of takeoff point horizontal plane) + (altitude of fruit tree + height from treetop).
- FIG. 5 is a structural block diagram of a device for planning a target area operation according to an embodiment of the present invention.
- the device includes: a first obtaining module 10 configured to obtain map image information of a target area to be operated; Module 20 is configured to identify multiple sub-areas included in the target area to be operated from the map image information, where multiple sub-areas correspond to multiple objects to be operated; planning module 30 is set to plan the operation equipment to The action path within the work target area to control the work equipment to traverse multiple sub-areas when working along the action path.
- the identification module 20 is configured to identify, from the map image information, the geometric center position of each sub-region in the multiple sub-regions and the outer contour of each sub-region.
- the geometric center position is the center position of the circle; when the outer contour is rectangular, the geometric center position is the center position of the rectangle; when the outer contour is oval, the geometric center position is The center position of the ellipse; when the outer contour is an irregular shape, the geometric center position is the centroid position of the irregular shape.
- FIG. 6 is a structural block diagram of a planning device for a target area operation according to one of the preferred embodiments of the present invention.
- the planning module 30 includes a generating unit 300 configured to be based on each of a plurality of sub-areas. The geometric center position of the area generates a transition path that traverses multiple to-be-operated objects in the to-be-targeted area; the planning unit 302 is configured to plan the work paths of multiple to-be-operated objects based on the outer contours of each of the multiple sub-areas; the processing unit 304. Add a work path to the transition path to generate an action path of the work equipment in the target area to be worked.
- the generating unit 300 includes: selecting a sub-unit (not shown in the figure), configured to select a sub-region closest to the take-off position of the operating equipment from a plurality of sub-regions as a starting sub-region; Not shown in the figure), set to start from the geometric center position of the starting sub-region, find the geometric center position of the adjacent sub-region nearest to the current sub-region in turn, and establish a transition path between adjacent geometric center positions;
- the judging subunit (not shown in the figure) is set to judge whether there is a sub-area that is not yet connected, and if so, return to establishing a subunit until a transition path that traverses multiple objects to be operated is generated.
- the planning unit 302 includes: a determination subunit (not shown in the figure), configured to determine the actual area of the current subregion according to the outer contour of the current subregion selected from the plurality of subregions; a first judgment subunit ( (Not shown in the figure), set to use a fixed-point rotation work path when the actual area is less than the preset area; when the actual area is greater than or equal to the preset area, a spiral work path and / or a round-trip work path are used; the second judge A unit (not shown in the figure), which is set to judge whether multiple sub-areas are all planned, and if not, return to determine a sub-unit in order to plan a work path for a to-be-targeted object in the next sub-area adjacent to the current sub-area, Until the operation paths of multiple objects to be operated are all planned.
- a determination subunit configured to determine the actual area of the current subregion according to the outer contour of the current subregion selected from the plurality of subregions
- a first judgment subunit
- the first judging sub-unit (not shown in the figure) is configured to determine a preset area according to the working width of the working equipment, and when the maximum diameter of the current sub-area is smaller than the working width, a fixed-point rotation working path is adopted; When the maximum diameter of the current sub-area is greater than or equal to the working width, a spiral working path and / or a round-trip working path is used.
- the adjacent Two or more sub-regions are identified as one sub-region.
- the above device further includes: a second obtaining module 40 configured to obtain the first height, the second height, the third height, and the fourth height, where the first height is each job to be performed
- the surveying and mapping altitude of the object the second altitude is the altitude of the take-off point of the working equipment, the third altitude is the height of each to-be-operated object, and the fourth altitude is a preset height added to the height of each to-be-operated object;
- the calculation module 50 is configured to calculate the actual flying height of the operation equipment using the first altitude, the second altitude, the third altitude, and the fourth altitude.
- One embodiment of the present invention may also provide a computer terminal.
- the computer terminal may include: one or more processors and a memory.
- the memory may be configured to store software programs and modules, such as program instructions / modules corresponding to the security vulnerability detection method and device in the embodiments of the present invention.
- the processor executes various software programs and modules stored in the memory to execute various programs. Functional application and data processing, that is, the planning method for achieving the above-mentioned target area operations.
- the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memory.
- the memory may further include a memory remotely set with respect to the processor, and these remote memories may be connected to the terminal through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
- the processor may call the information stored in the memory and the application program through the transmission device to perform the following steps: obtaining map image information of the target area to be operated; and identifying multiple sub-areas included in the target area to be operated from the map image information, wherein, The multiple sub-areas correspond to multiple to-be-operated objects; according to the multiple sub-areas, the action path of the work equipment in the to-be-targeted area is planned to control the work equipment to traverse multiple sub-areas when working along the action path.
- the processor may further execute the program code of the following steps: identifying the geometric center position of each sub-region in the multiple sub-regions and the outer contour of each sub-region from the map image information.
- the processor may further execute the program code of the following steps: generating a transition path traversing a plurality of objects to be operated in a target area to be operated based on a geometric center position of each of the plurality of sub areas; The outline of each sub-area is used to plan the work path of multiple to-be-worked objects; the work path is added to the transition path to generate the action path of the work equipment in the to-be-targeted area.
- the processor may further execute the program code of the following steps: a selection step, selecting a sub-area closest to the take-off position of the operating equipment from a plurality of sub-areas as a starting sub-area; and a establishing step from the starting sub-area.
- a selection step selecting a sub-area closest to the take-off position of the operating equipment from a plurality of sub-areas as a starting sub-area; and a establishing step from the starting sub-area.
- the geometric center position the geometric center position of the adjacent sub-region nearest to the current sub-region is searched in turn, and a transition path is established between the adjacent geometric center positions; the judgment step is to determine whether there are sub-regions that are not yet connected. , Return to the establishment step until a transition path is generated that traverses multiple objects to be operated.
- the processor may further execute the program code of the following steps: a determining step of determining an actual area of the current sub-area according to an outer contour of the current sub-area selected from a plurality of sub-areas; a first determining step, when the actual area is less than When the area is preset, a fixed-point rotation work path is used; when the actual area is greater than or equal to the preset area, a spiral work path and / or a round-trip work path are used; the second determination step is to determine whether all the sub-regions are all planned, if not, Then return to the determination step, so as to plan the work path for the to-be-operated objects in the next sub-area adjacent to the current sub-area, until the work paths of multiple to-be-operated objects are all planned.
- the processor may further execute the program code of the following steps: determining a preset area according to the working width of the work equipment, and when the maximum diameter of the current sub-area is less than the working width, a fixed-point rotation work path is adopted; when the current sub-area When the maximum diameter of the area is greater than or equal to the working width, a spiral working path and / or a round-trip working path is used.
- the processor may further execute the program code of the following steps: obtaining a first height, a second height, a third height, and a fourth height, where the first height is a surveying altitude of each object to be operated, and the first The second height is the altitude of the take-off point of the work equipment, the third height is the height of each to-be-worked object, and the fourth height is a preset height added to the height of each to-be-worked object; the first height and the second The altitude, third altitude, and fourth altitude calculate the actual flight altitude of the work equipment.
- the computer terminal may be any computer terminal device in a computer terminal group.
- the computer terminal may also be a terminal device such as a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, an applause computer, and mobile Internet devices (Mobile Internet Devices (MID), PAD).
- the computer terminal may be located in at least one network device among multiple network devices in a computer network.
- One embodiment of the present invention also provides a storage medium.
- the storage medium may be configured to store program code executed by the method for planning a target area operation provided in the first embodiment.
- the foregoing storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.
- the storage medium is configured to store program code for performing the following steps: obtaining map image information of the target area to be operated; and identifying multiple sub-objects included in the target area to be operated from the map image information. Area, where multiple sub-areas correspond to multiple to-be-worked objects; plan the action path of the work equipment in the to-be-worked target area according to the multiple sub-areas to control the work equipment to traverse multiple sub-areas when working along the action path.
- the storage medium is further configured to store program code for performing the following steps: identifying the geometric center position of each sub-region in the multiple sub-regions from the map image information and the outer position of each sub-region profile.
- the storage medium is further configured to store program code for performing the following steps: based on the geometric center position of each of the multiple subareas, generating and traversing multiple to-be-worked objects in the to-be-worked target area
- the transition path is planned based on the outer contour of each sub-region in the multiple sub-regions.
- the work path of multiple to-be-operated objects is planned; the work path is added to the transition path to generate the action path of the work equipment in the target region to be operated.
- the storage medium is further configured to store program code for performing the following steps: a selection step, and selecting a sub-region closest to the take-off position of the operating equipment from a plurality of sub-regions as a starting sub-region ;
- the establishing step starting from the geometric center position of the starting sub-region, sequentially searching for the geometric center position of the adjacent sub-region closest to the current sub-region, and establishing a transition path between adjacent geometric center positions;
- the judging step judging Whether there are sub-areas that are not yet connected, and if so, return to the establishment step until a transition path is generated that traverses multiple objects to be operated.
- the storage medium is further configured to store program code for performing the following steps: a determining step of determining an actual area of the current sub-region according to an outer contour of the current sub-region selected from a plurality of sub-regions ; The first judgment step, when the actual area is less than the preset area, the fixed-point rotation operation path is used; when the actual area is greater than or equal to the preset area, the spiral operation path and / or the round-trip operation path are used; the second judgment step, the judgment is more Whether all the sub-areas are planned, and if not, return to the determination step, so as to plan the work path for the to-be-operated objects in the next sub-area adjacent to the current sub-area, until the work paths of multiple to-be-operated objects are all planned.
- the storage medium is further configured to store program code for performing the following steps: determining a preset area according to the working width of the work equipment, and when the maximum diameter of the current sub-area is less than the working width , Using fixed-point rotation work path; when the maximum diameter of the current sub-area is greater than or equal to the width of the work, a spiral work path and / or round-trip work path.
- the storage medium is further configured to store program code for performing the following steps: obtaining a first height, a second height, a third height, and a fourth height, where the first height is every Surveying and mapping altitude of each to-be-worked object, the second height is the altitude of the take-off point of the work equipment, the third height is the height of each to-be-work object, and the fourth height is an increase based on the height of each to-be-work object Set the altitude; use the first altitude, the second altitude, the third altitude, and the fourth altitude to calculate the actual flight altitude of the operating equipment.
- sequence numbers of the foregoing embodiments of the present invention are merely for description, and do not represent the superiority or inferiority of the embodiments.
- the disclosed technical content can be implemented in other ways.
- the device embodiments described above are only schematic.
- the division of the unit may be a logical function division.
- multiple units or components may be combined or may be combined. Integration into another system, or some features can be ignored or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or other forms.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit.
- the above integrated unit may be implemented in the form of hardware or in the form of software functional unit.
- the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
- the technical solution of the present invention essentially or part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium , Including a number of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in various embodiments of the present invention.
- the foregoing storage media include: U disks, Read-Only Memory (ROM), Random Access Memory (RAM), mobile hard disks, magnetic disks, or optical disks, and other media that can store program codes .
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Abstract
Description
Claims (20)
- 一种目标区域作业的规划方法,包括:获取待作业目标区域的地图影像信息;从所述地图影像信息中识别出所述待作业目标区域包含的多个子区域,其中,所述多个子区域与多个待作业对象相对应;根据所述多个子区域规划作业设备在所述待作业目标区域内的行动路径,以控制所述作业设备在沿所述行动路径作业时遍历所述多个子区域。
- 根据权利要求1所述的方法,其中,从所述地图影像信息中识别出所述待作业目标区域包含的所述多个子区域包括:从所述地图影像信息中识别出所述多个子区域中每个子区域的几何中心位置以及每个子区域的外轮廓。
- 根据权利要求2所述的方法,其中,当所述外轮廓为圆形时,所述几何中心位置为所述圆形的圆心位置;当所述外轮廓为矩形时,所述几何中心位置为所述矩形的中心位置;当所述外轮廓为椭圆形时,所述几何中心位置为所述椭圆的圆心位置;当所述外轮廓为不规则形状时,所述几何中心位置为所述不规则形状的形心位置。
- 根据权利要求2或3所述的方法,其中,根据所述多个子区域规划所述作业设备在所述待作业目标区域内的行动路径包括:基于所述多个子区域中每个子区域的几何中心位置生成遍历所述待作业目标区域内所述多个待作业对象的过渡路径;基于所述多个子区域中每个子区域的外轮廓规划所述多个待作业对象的作业路径;在所述过渡路径添加所述作业路径,以生成所述作业设备在所述待作业目标区域内的行动路径。
- 根据权利要求4所述的方法,其中,基于所述多个子区域中每个子区域的几何中心位置生成遍历所述待作业目标区域内所述多个待作业对象的过渡路径包括:选取步骤,所述多个子区域中选取与所述作业设备的起飞位置距离最近的子区域为起始子区域;建立步骤,从所述起始子区域的几何中心位置开始,依次查找与当前子区域距离最近的相邻子区域的几何中心位置,并在相邻几何中心位置之间建立过渡路径;判断步骤,判断是否存在尚未连通的子区域,如果是,则返回所述建立步骤,直至生成遍历所述多个待作业对象的过渡路径。
- 根据权利要求4所述的方法,其中,基于所述多个子区域中每个子区域的外轮廓规划所述多个待作业对象的作业路径包括:确定步骤,根据从所述多个子区域中选取的当前子区域的外轮廓确定所述当前子区域的实际面积;第一判断步骤,当所述实际面积小于预设面积时,采用定点自转作业路径;当所述实际面积大于或等于所述预设面积时,采用螺旋作业路径和/或往返作业路径;第二判断步骤,判断所述多个子区域是否全部规划完毕,如果否,则返回所述确定步骤,以便为所述当前子区域相邻的下一个子区域内的待作业对象规划作业路径,直至所述多个待作业对象的作业路径全部规划完毕。
- 根据权利要求6所述的方法,其中,所述第一判断步骤包括:根据所述作业设备的作业幅宽确定所述预设面积,当所述当前子区域的最大直径小于所述作业幅宽时,采用定点自转作业路径;当所述当前子区域的最大直径大于或等于所述作业幅宽时,采用螺旋作业路径和/或往返作业路径。
- 根据权利要求1所述的方法,其中,当相邻的两个或多个子区域的重合面积大于或等于预设阈值,或,当相邻的两个或多个子区域重合面积大于或等于预设占比时,将所述相邻的两个或多个子区域确定为一个子区域。
- 根据权利要求1所述的方法,其中,在控制所述作业设备在沿所述行动路径作业时遍历所述多个子区域之前,还包括:获取第一高度、第二高度、第三高度和第四高度,其中,所述第一高度为每个待作业对象的测绘海拔高度,所述第二高度为所述作业设备的起飞点海拔高度,所述第三高度为每个待作业对象自身高度,所述第四高度为所述每个待作业对象自身高度的基础上增加的预设高度;采用所述第一高度、所述第二高度、所述第三高度和所述第四高度计算所述作业设备的实际飞行高度。
- 一种目标区域作业的规划装置,包括:第一获取模块,设置为获取待作业目标区域的地图影像信息;识别模块,设置为从所述地图影像信息中识别出所述待作业目标区域包含的多个子区域,其中,所述多个子区域与多个待作业对象相对应;规划模块,设置为根据所述多个子区域规划作业设备在所述待作业目标区域内的行动路径,以控制所述作业设备在沿所述行动路径作业时遍历所述多个子区域。
- 根据权利要求10所述的装置,其中,所述识别模块,设置为从所述地图影像信息中识别出所述多个子区域中每个子区域的几何中心位置以及每个子区域的外轮廓。
- 根据权利要求11所述的装置,其中,当所述外轮廓为圆形时,所述几何中心位置为所述圆形的圆心位置;当所述外轮廓为矩形时,所述几何中心位置为所述矩形的中心位置;当所述外轮廓为椭圆形时,所述几何中心位置为所述椭圆的圆心位置;当所述外轮廓为不规则形状时,所述几何中心位置为所述不规则形状的形心位置。
- 根据权利要求11或12所述的装置,其中,所述规划模块包括:生成单元,设置为基于所述多个子区域中每个子区域的几何中心位置生成遍历所述待作业目标区域内所述多个待作业对象的过渡路径;规划单元,设置为基于所述多个子区域中每个子区域的外轮廓规划所述多个待作业对象的作业路径;处理单元,设置为在所述过渡路径添加所述作业路径,以生成所述作业设备在所述待作业目标区域内的行动路径。
- 根据权利要求13所述的装置,其中,所述生成单元包括:选取子单元,设置为从所述多个子区域中选取与所述作业设备的起飞位置距离最近的子区域为起始子区域;建立子单元,设置为从所述起始子区域的几何中心位置开始,依次查找与当前子区域距离最近的相邻子区域的几何中心位置,并在相邻几何中心位置之间建立过渡路径;判断子单元,设置为判断是否存在尚未连通的子区域,如果是,则返回所述建立子单元,直至生成遍历所述多个待作业对象的过渡路径。
- 根据权利要求13所述的装置,其中,所述规划单元包括:确定子单元,设置为根据从所述多个子区域中选取的当前子区域的外轮廓确定所述当前子区域的实际面积;第一判断子单元,设置为当所述实际面积小于预设面积时,采用定点自转作业路径;当所述实际面积大于或等于所述预设面积时,采用螺旋作业路径和/或往返作业路径;第二判断子单元,设置为判断所述多个子区域是否全部规划完毕,如果否,则返回所述确定子单元,以便为所述当前子区域相邻的下一个子区域内的待作业对象规划作业路径,直至所述多个待作业对象的作业路径全部规划完毕。
- 根据权利要求15所述的装置,其中,所述第一判断子单元,设置为根据所述作业设备的作业幅宽确定所述预设面积,当所述当前子区域的最大直径小于所述作业幅宽时,采用定点自转作业路径;当所述当前子区域的最大直径大于或等于所述作业幅宽时,采用螺旋作业路径和/或往返作业路径。
- 根据权利要求10所述的装置,其中,当相邻的两个或多个子区域的重合面积大于或等于预设阈值,或,当相邻的两个或多个子区域重合面积大于或等于预设占比时,将所述相邻的两个或多个子区域确定为一个子区域。
- 根据权利要求10所述的装置,其中,所述装置还包括:第二获取模块,设置为获取第一高度、第二高度、第三高度和第四高度,其中,所述第一高度为每个待作业对象的测绘海拔高度,所述第二高度为所述作业设备的起飞点海拔高度,所述第三高度为每个待作业对象自身高度,所述第四高度为所述每个待作业对象自身高度的基础上增加的预设高度;计算模块,设置为采用所述第一高度、所述第二高度、所述第三高度和所述第四高度计算所述作业设备的实际飞行高度。
- 一种存储介质,所述存储介质包括存储的程序,其中,在所述程序运行时控制所述存储介质所在设备执行权利要求1至9中任意一项所述的目标区域作业的规划方法。
- 一种处理器,所述处理器设置为运行程序,其中,所述程序运行时执行权利要求1至9中任意一项所述的目标区域作业的规划方法。
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