WO2020107475A1

WO2020107475A1 - Obstacle avoidance control method, apparatus and device for spraying unmanned aerial vehicle, and storage medium

Info

Publication number: WO2020107475A1
Application number: PCT/CN2018/118772
Authority: WO
Inventors: 李劲松; 彭昭亮; 贾向华
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2020-06-04
Also published as: CN111386508A

Abstract

An obstacle avoidance control method and apparatus for a spraying unmanned aerial vehicle, and a storage medium. The obstacle avoidance control method comprises: obtaining detection data outputted by a detection device when the spraying unmanned aerial vehicle performs a spraying task according to an operation route, wherein the operation route comprises multiple operation route segments (S601); establishing a digital map according to the detection data (S602); because the spraying unmanned aerial vehicle performs the spraying task on one of the operation route segments, obstacles on other operation route segments can be detected according to a detection setting, when the spraying unmanned aerial vehicle performs the spraying task on the current operation route segment, if the obstacle is determined to be existed in the current operation route segment, determining a target obstacle avoidance path parallel to the current operation route segment according to the digital map (S603); controlling the spraying unmanned aerial vehicle to move from the current operation route segment to the target obstacle avoidance path for obstacle avoidance (S604); controlling the spraying unmanned aerial vehicle to return from the target obstacle avoidance path to the current operation route segment to continue to perform the spraying task after determining that the obstacle is avoided (S605), so that the spraying unmanned aerial vehicle do not need to frequently pause and frequently rotate due to an immobilized and mechanized detour to avoid obstacles, thereby improving detouring efficiency of the spraying unmanned aerial vehicle.

Description

Obstacle avoidance control method, device, equipment and storage medium for spraying drone

Technical field

The embodiments of the present invention relate to the field of spraying drones, and in particular to an obstacle avoidance control method, device, equipment and storage medium for spraying drones.

Background technique

In the prior art, the spraying drone is usually provided with an obstacle avoidance system. When the obstacle avoidance system detects obstacles around the spraying drone, the spraying drone performs bypass obstacle avoidance.

However, the bypass path of the spray drone when it bypasses obstacle avoidance is relatively fixed and mechanized, resulting in the spray drone needing to fly a long path to bypass the obstacle, or the spray drone needs to fly a long It takes time to circumvent obstacles, reducing the efficiency of spraying the UAV.

Summary of the invention

Embodiments of the present invention provide an obstacle avoidance control method, device, equipment, and storage medium for spraying a drone, so as to improve the detour efficiency of the spraying drone.

A first aspect of an embodiment of the present invention is to provide an obstacle avoidance control method for a spray drone. The spray drone is provided with a detection device. The detection device is used to detect obstacles.

In the process of the spraying drone performing the spraying task according to the operation route, acquiring detection data output by the detection device, wherein the operation route includes a plurality of operation route segments;

Build a digital map based on the detection data;

In the process of the spraying drone performing the spraying task according to the current operation route segment of the plurality of operation route segments, if it is determined that there is an obstacle on the current operation route segment, the Describe the parallel obstacle avoidance path of the current operational route segment;

Controlling the spray drone to move from the current operation route segment to the target obstacle avoidance path, and controlling the spray drone to move according to the target obstacle avoidance path;

After it is determined to avoid the obstacle, the spraying drone is controlled to return to the current operation route segment from the target obstacle avoidance path to continue to perform the spraying task.

A second aspect of an embodiment of the present invention is to provide an obstacle avoidance control device for a spray drone, where the spray drone is provided with a detection device, the detection device is used to detect an obstacle, and the obstacle avoidance control device includes : Memory and processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, it is used to perform the following operations:

Build a digital map based on the detection data;

A third aspect of the embodiments of the present invention is to provide a spray drone, including:

body;

A power system, installed on the fuselage, is used to provide flight power;

Detection equipment for detecting obstacles; and

The obstacle avoidance control device according to the second aspect.

A fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, which is executed by a processor to implement the method according to the first aspect.

The obstacle avoidance control method, device, equipment and storage medium of the spray drone provided in this embodiment, by acquiring the detection data output by the detection device when the spray drone performs the spray task according to the operation route, and establishing a digital map based on the detection data Since the operation route includes multiple operation route segments, the detection device can detect obstacles on other operation route segments when the spraying drone performs the spraying task on one of the operation route segments. When the spray drone performs the spraying task in the current operating route segment, if it is determined that there are obstacles in the current operating route segment, the target obstacle avoidance path parallel to the current operating route segment can be determined according to the digital map, and the spraying can be controlled. The man-machine moves from the current operation route segment to the target obstacle avoidance path for obstacle avoidance, so that the spraying drone does not need fixed or mechanized bypass obstacle avoidance and frequently stops, rotates frequently, and frequently detects whether there are obstacles on the current operation route segment Objects, thereby improving the efficiency of detouring spraying drones.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present invention;

2 is a schematic diagram of a user interface provided by an embodiment of the present invention;

3 is a schematic diagram of a working route provided by an embodiment of the present invention;

4 is a schematic diagram of a radar detection range provided by an embodiment of the present invention;

5 is a schematic diagram of an obstacle avoidance bypass provided in the prior art;

6 is a flowchart of an obstacle avoidance control method for spraying a drone according to an embodiment of the present invention;

7 is a schematic diagram of a radar detection range provided by an embodiment of the present invention;

8 is a schematic diagram of a spraying drone performing a spraying task provided by an embodiment of the present invention;

9 is a schematic diagram of establishing a digital map provided by an embodiment of the present invention;

10 is a schematic diagram of a spray drone bypass obstacle avoidance provided by an embodiment of the present invention;

11 is a schematic diagram of another spraying drone bypass obstacle avoidance provided by an embodiment of the present invention;

FIG. 12 is a schematic diagram of another spraying drone bypass obstacle avoidance provided by an embodiment of the present invention; FIG.

13 is a schematic diagram of another obstacle-avoiding spraying drone provided by an embodiment of the present invention;

14 is a schematic diagram of another user interface provided by an embodiment of the present invention;

15 is a flowchart of an obstacle avoidance control method for spraying a drone according to another embodiment of the present invention;

16 is a schematic diagram of multiple obstacle avoidance paths provided by an embodiment of the present invention;

17 is a flowchart of an obstacle avoidance control method for spraying a drone according to another embodiment of the present invention;

18 is a schematic diagram of a target return path provided by an embodiment of the present invention;

19 is a schematic diagram of another target return path provided by an embodiment of the present invention;

20 is a schematic diagram of another user interface provided by an embodiment of the present invention;

21 is a schematic diagram of another user interface provided by an embodiment of the present invention;

22 is a schematic diagram of another operation route provided by an embodiment of the present invention;

23 is a schematic diagram of another operation route provided by an embodiment of the present invention;

24 is a schematic diagram of another operation route provided by an embodiment of the present invention;

25 is a schematic diagram of another operation route provided by an embodiment of the present invention;

26 is a structural diagram of an obstacle avoidance control device according to an embodiment of the present invention;

FIG. 27 is a structural diagram of a spray drone provided by an embodiment of the present invention.

Reference mark:

10: UAV; 101: flight controller; 12: communication module;

13: ground control terminal; 0: waypoint; 1: waypoint;

2: waypoint; 3: waypoint; 4: waypoint;

5: waypoint; 6: waypoint; 7: waypoint;

8: waypoint; 9: waypoint; 10: waypoint;

11: waypoint; 21: user interface; 22: electronic map;

23: working area; 41: spraying drones; 51: obstacles;

71: Obstacle; 72: Obstacle; 73: Obstacle;

80: spray the drone head; 91: obstacles; 92: target obstacle avoidance path;

93: Obstacle avoidance path; 94; Obstacle avoidance path: 95: Obstacle avoidance path;

96: obstacle avoidance path; 97: obstacle avoidance path; 141: bullet frame;

142: radar chart; 143: historical route points; 144: route to be run;

145: historical route; 146: route point to be operated; 147: historical route;

148: Waypoint to be operated; 260: Obstacle avoidance control device; 261: memory;

262: processor; 263: communication interface; 270: spray drone;

271: detection equipment; 272: obstacle avoidance control device; 273: motor;

274: propeller; 275: electronic governor; 277: communication module.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed" to another component, it can be directly on another component or it can also exist in a centered component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there can be centered components at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terminology used in the description of the present invention herein is for the purpose of describing specific embodiments, and is not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

As shown in FIG. 1, the drone 10 may specifically be a spray drone, such as an agricultural drone (a drone spraying pesticides, seeds, and moisture). 101 denotes a flight controller of the drone 10, and the flight controller 101 is used to control the drone 10 to fly. 12 denotes a communication module of the UAV 10, and the communication module 12 may specifically be a wireless communication module, and the communication module 12 may perform wireless communication with the ground control terminal 13. In some embodiments, the communication module 12 can also perform wired communication with the ground control terminal 13. Optionally, the ground control terminal 13 is specifically a remote control, a smart phone, a tablet computer, etc. and combinations thereof. The ground control terminal 13 can control the drone 10 for spraying tasks, or the drone 10 can also operate autonomously.

Taking the autonomous operation of the drone 10 as an example, the ground control terminal 13 can send the operation route to the drone 10, and the drone 10 autonomously performs the spraying task according to the operation route. Optionally, the ground control terminal 13 may locally store the operation route in advance. Alternatively, the ground control terminal 13 may download the operation route from the cloud server. Alternatively, the ground control terminal 13 may generate a working route according to the position information of the working area to be sprayed. One possible way for the ground control terminal 13 to generate a work route according to the position information of the work area to be sprayed is: as shown in FIG. 2, 21 represents the user interface of the ground control terminal 13, and an electronic map 22 is displayed in the user interface 21 The user can select the work area to be sprayed in the electronic map 22, for example, the work area 23, and points A, B, C, and D represent four points on the edge of the work area 23. This is only a schematic illustration and does not limit the shape of the work area to be sprayed. The ground control terminal 13 plans a working route of the drone 10 in the working area 23 according to a preset algorithm, such as a full-coverage path planning algorithm, such as the working route from waypoint 0 to waypoint 11 shown in FIG. 2. It can be understood that the operating route is composed of a series of waypoints.

In some embodiments, the work area to be sprayed may not be selected by the user in the electronic map, but is preset, that is, the position information of the work area to be sprayed is preset, and the ground control terminal 13 According to the position information of the operation area to be sprayed, the operation route can be generated.

Further, the ground control terminal 13 sends the operation route to the drone 10, and after receiving the operation route through the communication module 12, the flight controller 101 of the drone 10 autonomously executes the spraying task according to the operation route. The process of the flight controller 101 performing the spraying task autonomously according to the operation route is specifically shown in FIG. 3, point E represents the starting point of the drone 10, namely the HOME point, and the drone 10 receives at As shown in FIG. 2, the operation route includes a plurality of operation route segments, wherein the operation route segment is a route between two adjacent waypoints, for example, from waypoint 0 to waypoint 1 Operation route segment, operation route segment from waypoint 1 to waypoint 2, operation route segment from waypoint 2 to waypoint 3, and so on, operation route segment from waypoint 10 to waypoint 11. The flight controller 101 controls the drone 10 to fly from point E to the first waypoint, which is waypoint 0, and the nozzle is turned on at waypoint 0, and according to a series of waypoints from waypoint 0 to waypoint 1, The man-machine 10 flies from waypoint 0 to waypoint 1, and controls the nozzle to close at waypoint 1, thereby completing the spraying task corresponding to the operation route segment from waypoint 0 to waypoint 1. Further, the flight controller 101 controls the drone 10 to traverse from waypoint 1 to waypoint 2, the so-called traverse refers to the process of the drone 10 flying from waypoint 1 to waypoint 2 The direction of the nose is consistent with the direction of the working route segment from waypoint 0 to waypoint 1. When the drone 10 traverses to waypoint 2, the flight controller 101 controls the nozzle to turn on again, and when the drone 10 flies from waypoint 2 to waypoint 3, the flight controller 101 controls the nozzle to turn off again, thus completing from The spraying tasks corresponding to the operating route segments from waypoint 2 to waypoint 3, and so on, until the drone 10 completes the spraying tasks corresponding to the operating route segments from waypoint 10 to waypoint 11, then fly back from waypoint 11 The HOME point is the E point, thereby completing the spraying task to the work area 23. That is, for example, the working route segment from waypoint 0 to waypoint 1 is a route segment where the spraying drone performs the spraying task. For example, the operating route segment from waypoint 1 to waypoint 2 is the route segment when the spray drone moves laterally.

In some embodiments, the ground control terminal 13 may also send the position information of the work area to be sprayed to the drone 10, and the drone 10 generates a work route according to the position information of the work area, and autonomously follows the work route Perform spraying tasks. The process and principle of the UAV 10 generating the operation route according to the position information of the operation area are similar to the process of the ground control terminal 13 generating the operation route according to the position information of the operation area, which will not be repeated here.

In some other embodiments, the drone 10 may also store a working route in advance, and perform spraying tasks according to the working route.

In the process of spraying drones, such as agricultural drones, performing obstacles in accordance with the operation route, an obstacle may be encountered at any time. At this time, the spraying drone needs to bypass the obstacle and return to the current operation route segment. For safe operation, spraying drones are usually equipped with detection equipment, such as radar (millimeter wave radar or lidar), ultrasonic detection equipment, TOF ranging detection equipment, visual detection equipment, laser detection equipment, etc. Taking radar as an example, as shown in FIG. 4, a millimeter-wave radar is provided on the spray drone 41. The millimeter-wave radar can detect obstacles within a preset range in front of and behind the spray drone 41. The range may be a range of plus or minus 45 degrees as shown in FIG. 4. When an obstacle appears in front of the spray drone 41, the process of spraying the drone 41 around the obstacle avoidance in the prior art may include several steps as shown in FIG. 5:

In step 1, the spray drone 41 detects an obstacle 51 ahead, and first brakes.

Step 2: The spray drone 41 rotates 90 degrees to the left in the body coordinate system.

Step 3: The spray drone 41 flies forward in the body coordinate system. When the spray drone 41 flies forward in the body coordinate system for a distance d1, hover.

Step 4. The spray drone 41 rotates 90 degrees to the right in the body coordinate system and returns to the direction of the previous route segment.

Step 5. The spray drone 41 flies forward in the body coordinate system. When the spray drone 41 flies forward in the body coordinate system for a distance of d2, hover.

Step 6: The spray drone 41 rotates 90 degrees to the right under the body coordinate system, and detects whether there is an obstacle on the previous route segment, and if not, it will fly forward under the body coordinate system.

In step 7, the spraying drone 41 returns to the previous route segment to continue to perform subsequent spraying tasks.

In addition, if in step 6, the spray drone 41 detects an obstacle on the previous route segment, the spray drone 41 can be rotated 90 degrees to the left in the body coordinate system, according to the direction shown in step 5 Continue to fly forward until the spray drone 41 detects that there is no obstacle on the previous route segment, and then return to the previous route segment in the direction shown in step 7 to continue to perform subsequent spraying tasks.

It can be seen from this that if the values of distance d1 and distance d2 are small, it may lead to frequent stops, frequent rotations, and frequent detection of obstacles on the original route segment of the spraying drone. If the values of the distance d1 and the distance d2 are large, it may cause the spray drone to leak a large work area. In response to this problem, embodiments of the present invention provide an obstacle avoidance control method for spraying drones to provide a more flexible obstacle avoidance strategy for spraying drones. The method will be described below in conjunction with specific embodiments.

An embodiment of the present invention provides an obstacle avoidance control method for spraying a drone. The spray drone is provided with detection equipment, and the detection equipment is used to detect obstacles. Optionally, the spray drone is an agricultural drone.

6 is a flowchart of an obstacle avoidance control method for spraying an unmanned aerial vehicle according to an embodiment of the present invention. As shown in FIG. 6, the method in this embodiment may include:

Step S601: During the process that the spraying drone performs the spraying task according to the operation route, obtain the detection data output by the detection device, wherein the operation route includes a plurality of operation route segments.

In this embodiment, the detection equipment provided on the spray drone may be radar, ultrasonic detection equipment, TOF ranging detection equipment, visual detection equipment, laser detection equipment, and the like. This embodiment takes a radar as an example, and the radar may specifically be a millimeter wave radar. As shown in FIG. 7, the millimeter wave radar can detect obstacles within a 90-degree angle of view before and after spraying the drone 41, and the maximum detection distance of the millimeter wave radar is 40 meters. In the process of spraying the drone to perform the spraying task according to the operation route, the millimeter-wave radar detects obstacles in its perspective in real time. The working route may specifically be a working route as shown in FIGS. 2, 3, and 4. The working route includes a plurality of working route segments. The working route segment may not only be a route segment where a spray drone performs a spray task, but also It may be a route segment when the spraying drone 41 moves laterally.

Specifically, the millimeter-wave radar tracks the original data of the detected target multiple times, and evaluates the track quality of the target each time it tracks. When the track quality reaches a certain threshold, the millimeter-wave radar determines that the target is true and effective Obstacles, output detection data, and send the detection data to the navigation module and flight controller spraying the UAV 41. Optionally, the detection data includes at least one of the following: the size of the obstacle, the distance and direction of the obstacle relative to the spray drone. Wherein, the distance of the obstacle with respect to the spray drone may be a linear distance between the obstacle and the spray drone, and the direction of the obstacle with respect to the spray drone is specific It may be an angle between the obstacle, the connection line between the spray drone and the head of the spray drone, that is, the angle at which the obstacle deviates from the head. In this embodiment, the head of the spray drone can be in the same direction as the operation route segment or opposite to the direction of the operation route segment. As shown in FIG. 8, 80 indicates the spray drone nose When the spraying drone performs the spraying task in the operating route segment 23, the direction of the spraying drone's nose is consistent with the direction of the operating route segment 23. The direction of the operation route segment may be the direction from the historical waypoints that the spray drone has passed to the waypoints to be passed when the spray drone is flying on the operation route segment. When the spray drone moves laterally from waypoint 3 to waypoint 4, the direction of the spray drone's nose remains unchanged. When the spraying drone performs the spraying task in the operation route section 45, the head of the spraying drone is opposite to the direction of the operation route section 45. That is to say, when the spraying drone performs the spraying task in the operation route segment 23, the spraying drone flies forward in the body coordinate system. When the spraying drone performs the spraying task in the operation route segment 45, the spraying drone flies backward in the body coordinate system. In some embodiments, the spray drone can also rotate after the traverse is completed, for example, at waypoint 4, so that the spray drone's nose is aligned with the direction of the operating route segment 45.

As shown in FIG. 7, 71 and 72 represent obstacles detected by the millimeter-wave radar. The detection data output by the millimeter-wave radar includes the size of the obstacle 71, the distance and direction of the obstacle 71 relative to the spray drone 41; and the obstacle The size of the object 72 and the distance and direction of the obstacle 72 relative to the spray drone 41. The size of the obstacle 71 may specifically be the width of the obstacle 71, the distance of the obstacle 71 relative to the spray drone 41 is d1, and the direction of the obstacle 71 relative to the spray drone 41 may specifically be the deviation of the obstacle 71 The angle θ1 toward which the head of the drone 41 is sprayed. The size of the obstacle 72 may specifically be the width of the obstacle 71, the distance of the obstacle 72 relative to the spray drone 41 is d2, and the direction of the obstacle 72 relative to the spray drone 41 may specifically be that the obstacle 72 deviates from the spray without The angle θ2 of the head of the human-machine 41.

Step S602: Establish a digital map according to the detection data.

Since the millimeter-wave radar is projective, as shown in FIG. 9, the millimeter-wave radar can also detect the obstacle 73 blocked by the obstacle 72, for example, the distance of the obstacle 73 relative to the spray drone 41 is d3, and the obstacle The angle that 73 deviates from the direction of the spray drone 41 head is θ3. When the navigation module of the spray drone 41 receives the detection data output by the millimeter wave radar, a digital map is established according to the detection data. The digital map may specifically be a global grid map. Here, the digital map is used as a global grid map for schematic description. It is understandable that the global grid maps appearing in the later part of this article can all be replaced by digital maps. . The navigation module marks obstacles in the global grid map according to the detection data. Optionally, the navigation module according to the size of the obstacles detected by the millimeter wave radar, the distance and direction relative to the spray drone, in the global grid In the grid map, the positions corresponding to obstacles are marked with weighted values, and the positions without obstacles are marked with reduced weights. As shown in FIG. 9, the position corresponding to +5 indicates that there is an obstacle, and the position corresponding to -1 indicates that there is no obstacle. Optionally, the size of the weighted value and the weight-reduced value can be used to measure the credibility of the millimeter-wave radar detection data. For example, the weighted value can be used to measure the credibility of real obstacles, and the weight-reduced value Can be used to measure credibility without obstacles. The navigation module can determine which positions in the global grid map have obstacles according to the threshold. In this embodiment, since the millimeter wave radar can output detection data in real time, the navigation module can construct a global grid map in real time.

Step S603: When the spraying drone performs the spraying task according to the current operation route segment of the plurality of operation route segments, if it is determined that there is an obstacle on the current operation route segment, then according to the digital map Determine a target obstacle avoidance path parallel to the current operational route segment.

As shown in FIG. 10, the spraying drone 41 performs the spraying task according to the operation route, which includes multiple operation route segments, for example, the operation route segment from waypoint 0 to waypoint 1, from waypoint 2 to waypoint The operating route segment of 3, the operating route segment from waypoint 4 to waypoint 5, and the operating route segment from waypoint 6 to waypoint 7 are only schematic illustrations, not the shape of the operating route and the operation The number of operational route segments of the route is limited.

The spraying drone 41 performs the spraying task according to the current working route segment in the plurality of working route segments, for example, the working route segment from waypoint 2 to waypoint 3, and the spraying drone 41 detects in real time whether the current working route segment There are obstacles. Specifically, the millimeter wave radar on the spray drone 41 detects obstacles in its viewing angle in real time, and the spray drone 41 determines whether there are obstacles in the current operation route segment according to the detection data of the millimeter wave radar. As shown in FIG. 10, when the spray drone 41 performs the spraying task on the working route segment from waypoint 2 to waypoint 3, the millimeter wave radar detects the obstacle 91, that is, the obstacle 91 is in the millimeter Wave radar's perspective. The millimeter-wave radar sends detection data to the navigation module and the flight controller of the spray drone 41. The detection data may include the size of the obstacle 91 and the distance and direction of the obstacle 91 relative to the spray drone 41. The navigation module builds a global grid map based on the detection data. At this time, the flight controller may determine whether the obstacle 91 is in the current operation route segment according to the detection data. Since the angle of the obstacle 91 deviating from the head of the spray drone 41 is large, the flight controller determines that the obstacle 91 is not in the current operating route segment according to the direction of the obstacle 91 relative to the spray drone 41, and controls The spraying drone 41 continues to perform spraying tasks. After the spraying drone 41 performs the spraying task corresponding to the current operating route segment, the flight controller controls the spraying drone 41 to traverse from waypoint 3 to waypoint 4, and the spraying drone 41 starts from waypoint 4 according to the following The spraying task is performed on the working route segment from waypoint 4 to waypoint 5.

When the spray drone 41 performs the spraying task according to the current operation route segment, that is, the operation route segment from waypoint 4 to waypoint 5, the spray drone 41 detects in real time whether there is an obstacle in the current operation route segment. If it is determined that there is an obstacle in the current operational route segment, the target obstacle avoidance path parallel to the current operational route segment is determined according to the digital map established by the navigation module.

In some embodiments, if it is determined that there is an obstacle on the current operational route segment, determining a target obstacle avoidance path parallel to the current operational route segment according to the digital map includes: The detection data and/or the digital map determines that there is an obstacle on the current operational route segment, and then determines a target obstacle avoidance path parallel to the current operational route segment according to the digital map.

Specifically, when the spray drone 41 performs the spraying task according to the current operation route segment, that is, the operation route segment from waypoint 4 to waypoint 5, the navigation module in the spray drone 41 according to the global grid established by it The map determines whether there are obstacles in the current operation route segment, or/and the flight controller spraying the drone 41 determines whether there are obstacles in the current operation route segment based on the detection data of the millimeter wave radar. As shown in FIG. 10, the working route segment from waypoint 2 to waypoint 3 is denoted as working route segment 23, and the working route segment from waypoint 4 to waypoint 5 is denoted as working route segment 45. Since the spraying drone 41 performs the spraying task on the working route segment 23, the millimeter wave radar has detected the obstacle 91 in the working route segment 45, so that the navigation module marks the obstacle 91 in the global grid map. Therefore, when the spray drone 41 performs the spraying task on the operating route segment 45, the global grid map has been marked with obstacles 91, and the navigation module can determine the current operating route segment, that is, the operating route, according to the global grid map There are obstacles 91 in the segment 45. Or/and, when the spraying drone 41 performs the spraying task on the operation route segment 45, if the obstacle 91 is within the angle of view of the millimeter wave radar, and the distance of the obstacle 91 relative to the spraying drone 41 is less than or equal to the The maximum detection distance of the millimeter wave radar, the millimeter wave radar can detect the obstacle 91 in real time, and send detection data to the navigation module and the flight controller. The flight controller can determine the current operating route based on the detection data The section is whether there are obstacles in the working route section 45. For example, the detection data includes the size of the obstacle 91 and the distance and direction of the obstacle 91 relative to the spray drone 41. The flight controller can determine the size of the obstacle 91 and the obstacle 91 relative to the spray drone 41 The distance and direction, determine whether the obstacle 91 falls on the operation route segment 45, or determine whether the distance of the obstacle 91 relative to the operation route segment 45 is less than the preset distance, if the obstacle 91 falls on the operation route segment 45 On the other hand, or if the distance of the obstacle 91 relative to the work route segment 45 is less than the preset distance, it is determined that the obstacle 91 is in the work route segment 45.

When it is determined that there is an obstacle in the current operational route segment, the target obstacle avoidance path parallel to the current operational route segment is determined according to the digital map established by the navigation module. There are several feasible implementation methods as follows:

A feasible implementation method is: when the flight controller determines that there are obstacles 91 in the current operational route segment, that is, the operational route segment 45, based on the detection data of the millimeter wave radar, the flight controller sends a request for detour information to the navigation module to navigate After receiving the request bypass information, the module determines the target obstacle avoidance path parallel to the current operational route segment according to the global grid map established by the navigation module.

Another feasible implementation method is: when the navigation module detects that there are obstacles 91 in the operating route segment 45 according to the global grid map, the navigation module sends a request for detour information to the flight controller, and the flight controller detours the request After the line information is confirmed, the confirmation detour information is sent to the navigation module, and the navigation module determines the target obstacle avoidance path parallel to the current operation route segment according to the global grid map.

In addition, as shown in FIG. 10, when the spraying drone 41 performs the spraying task on the operating route segment 23, the millimeter wave radar has detected the obstacle 91 in the operating route segment 45, making the navigation module Obstacle 91 is marked. When the spraying drone 41 performs the spraying task on the operation route segment 45, in some cases, the global grid map has been marked with obstacles 91, but since the obstacle 91 is in the operation route segment 45, The millimeter-wave radar can still continuously detect the obstacle 91 and send new detection data to the navigation module and the flight controller. The navigation module can update the global grid map according to the new detection data, for example, to update the obstacle One or more of the position, line, and size of the object 91 in the global grid map.

Step S604: Control the spray drone to move from the current operation route segment to the target obstacle avoidance path, and control the spray drone to move according to the target obstacle avoidance path.

As shown in FIG. 10, 92 indicates a target obstacle avoidance path parallel to the current operation route segment, which is the operation route segment 45, and the flight controller can control the spray drone 41 to move from the current operation route segment, the operation route segment 45, to the target obstacle avoidance Path 92, and the spray drone 41 is controlled to move according to the target obstacle avoidance path 92.

In some embodiments, the method further includes: adjusting the direction of the spray drone head during the movement of the spray drone from the current operating route segment to the target obstacle avoidance path To a first target orientation to adjust the detection direction of the detection device, wherein the first target orientation is directed to the target obstacle avoidance path by the current operating route segment and presents a first prediction with the current operating route segment Set the direction of the angle.

As shown in FIG. 11, when the spray drone 41 moves from the current operational route segment, that is, the operational route segment 45, to the target obstacle avoidance path 92, the head of the spray drone 41 is adjusted to adjust the spray The detection direction of the millimeter wave radar on the drone 41 increases the detectable range of the millimeter wave radar. Optionally, the direction of the nose of the spray drone 41 is adjusted according to the direction from the operation route segment 45 to the target obstacle avoidance path 92, and the adjusted nose orientation is at a preset angle α with the operation route segment 45, for example, a preset The angle α is 15 degrees. Here, the preset angle α is recorded as a first preset angle, and the direction at the first preset angle with the work route segment 45 is recorded as the first target direction of the spray drone 41. In other words, the spray drone 41 moves from the current operation route segment, which is the current operation route segment 45, to the target obstacle avoidance path 92 according to the adjusted first target direction.

Step S605: After it is determined to avoid the obstacle, the spraying drone is controlled to return from the target obstacle avoidance path to the current operational route segment to continue to perform the spraying task.

As shown in FIG. 11, after it is determined that the spray drone 41 avoids the obstacle 91, the flight controller controls the spray drone 41 from the target obstacle avoidance path 92 to return to the current operational route segment, that is, the operational route segment 45 to continue to perform the spraying task .

In some embodiments, the method further includes: during the movement of the spray drone from the target obstacle avoidance path to the current operational route segment, orienting the nose of the spray drone Adjusting to a second target orientation to adjust the detection direction of the detection device, wherein the second target orientation is directed from the target obstacle avoidance path to the current operating route segment and is second to the current operating route segment Preset the direction of the included angle.

As shown in FIG. 11, when the spray drone 41 moves from the target obstacle avoidance path 92 to the current operation route segment, that is, the operation route segment 45, the head of the spray drone 41 is adjusted to adjust the spray The detection direction of the millimeter wave radar on the drone 41 increases the detectable range of the millimeter wave radar. Optionally, the direction of the nose of the spraying drone 41 is adjusted according to the direction from the target obstacle avoidance path 92 to the operating route segment 45, and the adjusted nose orientation is at a preset angle β with the operating route segment 45, for example, a preset The angle β is 15 degrees. Here, the preset angle β is recorded as the second preset angle, and the direction at the second preset angle with the work route segment 45 is recorded as the second target direction of the spray drone 41. In other words, the spray drone 41 moves from the target obstacle avoidance path 92 to the current working route segment, which is the working route segment 45 according to the adjusted second target direction. In this embodiment, the second preset angle and the first preset angle may be the same or different. In addition, the selection of 15 degrees for the first preset included angle or the second preset included angle is for illustrative purposes only, and may not be limited to 15 degrees in other embodiments.

As shown in FIG. 12, the spray drone 41 moves from the point B in the operating route segment 45 to the target obstacle avoidance path 92. At the point B, the flight controller adjusts the head of the spray drone 41 so that after the adjustment The orientation of the nose of the aircraft is at a preset angle α as shown in FIG. 11, that is, the adjusted orientation of the nose is the above-mentioned first target orientation, that is, the spray drone 41 is at the point B The adjusted first target moves from the work route segment 45 to the target obstacle avoidance path 92. Point C represents a position point where the spray drone 41 passes on the target obstacle avoidance path 92 after the spray drone 41 moves to the target obstacle avoidance path 92. At the point C, the head of the spray drone 41 may still be the first target direction. At this time, the head of the spray drone 41 may be adjusted to be consistent with the direction of the working route segment 45. When the spray drone 41 moves to point D on the target obstacle avoidance path 92, the spray drone 41 determines that the obstacle has been avoided. At this time, the head of the spray drone 41 is adjusted again so that the adjusted The direction of the nose is at a preset angle β as shown in FIG. 11, that is, the adjusted orientation of the nose is the above-mentioned second target orientation, that is, the spray drone 41 is adjusted according to the point D The subsequent second target moves from the target obstacle avoidance path 92 to the work route segment 45. The position when the spraying drone 41 returns to the operating route segment 45 is point E. At point E, the head of the spraying drone 41 is adjusted to coincide with the direction of the operating route segment 45, and smooth from point E to point F . For example, when the spray drone 41 returns to the operation route segment 45, the head of the spray drone 41 may be the second target orientation, that is, the direction of the spray drone 41 at the point E is the same as the operation route segment 45 At the preset angle β shown in FIG. 11, at this time, the head orientation can be adjusted at point E, and the head orientation of the spray drone 41 can be adjusted to be consistent with the direction of the operating route segment 45, so that the spray drone 41 Smooth to point F in a direction consistent with the direction of the work route segment 45. In addition, the flying speed of the spraying drone 41 when returning to point E may be different from the flying speed of the spraying drone 41 when performing the spraying task. The flying speed of the spray drone 41 can be constantly adjusted so that the flying speed of the spray drone 41 at point F reaches the flying speed when the spraying task is performed. Optionally, the spraying drone 41 is in a detour state from the point B to the point C, the spraying drone 41 is in the return route state from the point D to the point E, and the process The medium spray drone 41 is in a smooth state of detour completion.

In some embodiments, obstacles may also appear in the route segment when the spray drone 41 moves laterally, as shown in FIG. 13, when the spray drone 41 performs the spraying task in the operation route segment 45, the spray The millimeter-wave radar on the UAV 41 detects the obstacle 91. The millimeter-wave radar sends the detection data corresponding to the obstacle 91 to the navigation module and the flight controller. The navigation module establishes a global grid map, and the global grid map The obstacle 91 is marked. Since the obstacle 91 is not in the current operation route segment, that is, the operation route segment 45, the flight controller controls the spray drone 41 to normally perform the spraying task in the operation route segment 45. When the spraying drone 41 performs the spraying task corresponding to the operating route segment 45, during the traverse from the waypoint 5 to the waypoint 6, the direction of the spray drone 41 head is consistent with the direction of the operating route segment 45 , May cause the angle of view of the millimeter wave radar to be unable to cover the obstacle 91, resulting in the millimeter wave radar being unable to detect obstacles in the route segment from waypoint 5 to waypoint 6. At this time, the navigation module can monitor in real time whether there are obstacles in the route segment from waypoint 5 to waypoint 6 according to the global grid map. Here, the route segment from waypoint 5 to waypoint 6 is referred to as route segment 56.

If the navigation module determines that there are obstacles in the route segment 56, the navigation module can determine the target obstacle avoidance path parallel to the route segment 56 according to the global grid map, and the flight controller controls the spray drone 41 from the route segment 56 moves to the target obstacle avoidance path, and controls the spray drone 41 to follow the target obstacle avoidance path. After the flight controller determines that the spray drone 41 avoids the obstacle 91, it further controls the spray drone 41 to return to the route segment 56 from the target obstacle avoidance path.

Alternatively, when the navigation module determines that there is an obstacle in the route segment 56, the navigation module can also send the distance and direction of the obstacle relative to the spray drone 41 to the flight controller, which can also control spraying The drone 41 is hovered, and the ground control end is further controlled to spray the drone 41 to avoid the obstacle.

In this embodiment, by acquiring the detection data output by the detection device when the spraying drone performs the spraying task according to the operation route, a digital map is established based on the detection data. Since the operation route includes multiple operation route segments, the spraying drone is in one of the The detection equipment can detect obstacles on other operating route segments when performing spraying tasks on the operating route segments. When the spraying drone performs the spraying task in the current operational route segment, if it is determined that there are obstacles in the current operational route segment, the target obstacle avoidance path parallel to the current operational route segment can be determined according to the digital map, and the spray The man-machine moves from the current operation route segment to the target obstacle avoidance path for obstacle avoidance, so that the spraying drone does not need fixed or mechanized bypass obstacle avoidance and frequently stops, rotates frequently, and frequently detects whether there are obstacles on the current operation route segment Objects, thereby improving the efficiency of detouring spraying drones.

An embodiment of the present invention provides an obstacle avoidance control method for spraying a drone. Based on the above embodiment, the control of the spray drone to move from the current operation route segment to the target obstacle avoidance path includes: when the spray drone is at a distance relative to the obstacle When it is less than or equal to the first distance threshold, the spray drone is controlled to move from the current working route segment to the target obstacle avoidance path.

As shown in FIG. 12, when the spray drone 41 flies to point A on the operating route segment 45, the millimeter wave radar detects the obstacle 91, the millimeter wave radar sends detection data to the flight controller, and the flight controller according to the detection The data determines that the distance between the spray drone 41 and the obstacle 91 is greater than the first distance threshold. At this time, the flight controller can control the spray drone 41 to continue to fly forward to perform the spray task. As the spray drone 41 continues to fly forward along the operating route segment 45, the distance of the spray drone 41 relative to the obstacle 91 continuously decreases, and when the flight controller determines that the spray drone 41 is relatively When the distance of the obstacle 91 is less than or equal to the first distance threshold, the spray drone 41 is controlled to move from the work route segment 45 to the target obstacle avoidance path 92. For example, when the spray drone 41 flies to point B on the operating route segment 45, the distance between the spray drone 41 and the obstacle 91 is less than or equal to the first distance threshold, the flight controller controls the spray drone 41 Move from point B to target obstacle avoidance path 92. During the process from point A to point B, the spray drone 41 is in the state of “preparing to avoid obstacles”.

In some embodiments, the method further includes: when the distance of the spray drone relative to the obstacle is less than or equal to the first distance threshold, to the ground control end corresponding to the spray drone Send the first status information that the spray drone is avoiding obstacles. For example, when the spray drone 41 flies to point B on the operating route segment 45, the distance between the spray drone 41 and the obstacle 91 is less than or equal to the first distance threshold, and the flight controller controls the spray drone 41 from Point B moves to the target obstacle avoidance path 92. At this time, the spray drone 41 sends the first state information that the spray drone 41 is avoiding obstacles to the ground control terminal.

Optionally, the ground control terminal is provided with an application program for controlling the spray drone 41. The user interface of the application program is specifically shown in FIG. 14. The local control terminal receives the first status information sent by the spray drone 41 At this time, the user interface displays a pop-up frame 141, and the status information of "obstacle avoidance" is displayed in the pop-up frame 141. The pop-up frame 141 may disappear within a preset time after displaying the status information, or may not disappear. In addition, while the user interface displays "obstacle avoidance", the ground control terminal can also provide a corresponding voice prompt, so that when the user fails to notice the "obstacle avoidance" displayed in the pop-up box 141, the ground control terminal The user can still be prompted to spray the drone 41 "obstacle avoidance". In addition, the spray drone 41 can also send information about obstacles around the spray drone 41 to the ground control terminal. The obstacle information includes the size of the obstacle and the distance of the obstacle relative to the spray drone 41 And directions. The application can also display the radar chart 142 corresponding to the obstacle in the user interface according to the obstacle information sent by the spray drone 41. Among them, 91 in the radar chart 142 indicates an obstacle, and 41 indicates a spray drone. In addition, the spray drone 41 can also send the historical route points of the spray drone 41 and the route to be run to the ground control terminal, the application can display the historical route points of the spray drone 41 in the user interface And the path to be run. For example, in the radar chart 142, 143 represents the historical route point of the spray drone 41, and 144 represents the route where the spray drone 41 will operate. Among them, the historical route point 143 may correspond to the waypoint between point A and point B as shown in FIG. 12. The path 144 to be run may specifically correspond to the path from point B to point C as shown in FIG. 12. Among them, the historical route point 143 and the route to be run 144 may be displayed in different colors in the user interface.

In addition, as shown in FIG. 12, when the spray drone 41 moves from the point B to the target obstacle avoidance path 92, the navigation module may calculate the spray drone 41 according to the real-time distance of the spray drone 41 relative to the obstacle 91 Speed limit value, generate a speed limit command according to the speed limit value, and send the speed limit command to the flight controller, so that the flight controller controls the spray drone 41 to decelerate according to the speed limit value in the speed limit command .

Optionally, when the spray drone 41 moves from the point B to the target obstacle avoidance path 92, or the spray drone 41 moves according to the target obstacle avoidance path 92, the user can also control the spray drone 41 through the ground control terminal Hover, or bypass obstacles.

In some embodiments, if it is determined that there is an obstacle on the current operational route segment, determining a target obstacle avoidance path parallel to the current operational route segment according to the digital map includes: if it is determined that the current operational route If there is an obstacle on the route segment, determine the distance of the obstacle on the current operating route segment relative to the spray drone; if the distance is greater than the first distance threshold and less than the second distance threshold, then Determining a target obstacle avoidance path parallel to the current operational route segment according to the digital map; wherein the second distance threshold is greater than the first distance threshold.

As shown in FIG. 12, when the spray drone 41 flies to point A on the operating route segment 45, the distance of the obstacle 91 relative to the spray drone 41 is the second distance threshold. When the spray drone 41 flies to At point B, the distance of the obstacle 91 relative to the spray drone 41 is a first distance threshold, and the second distance threshold is greater than the first distance threshold. Optionally, when the spray drone 41 is located between point A and point B, a target obstacle avoidance path parallel to the operation route segment 45 is determined according to the global grid map established by the navigation module. Optionally, the first distance threshold and the second distance threshold may be determined according to the flying speed of the spray drone 41. For example, when the flying speed of the spray drone 41 is large, the first distance threshold and the second distance threshold may be set larger, so that the spray drone 41 has sufficient time to decelerate and detour. When the flying speed of the spray drone 41 is small, the first distance threshold and the second distance threshold can be set smaller.

In some embodiments, when the distance of the spray drone relative to the obstacle is less than or equal to a second distance threshold, the spray drone is controlled to decelerate, the second distance threshold is greater than the first Distance threshold. As shown in FIG. 12, when the spray drone 41 flies to point A, the distance of the spray drone 41 relative to the obstacle 91 is the second distance threshold, and the spray drone 41 continues to fly forward, which will cause the The distance between the spray drone 41 and the obstacle 91 is less than the second distance threshold. Therefore, starting from point A, the flight controller can control the spray drone 41 to decelerate. Specifically, the navigation module calculates the speed limit value of the spray drone 41 according to the real-time distance of the spray drone 41 relative to the obstacle 91, generates a speed limit instruction according to the speed limit value, and sends the speed limit instruction to the flight The controller, so that the flight controller controls the spray drone 41 to decelerate according to the speed limit value in the speed limit instruction.

Optionally, the method further includes: when the distance of the spray drone relative to the obstacle is less than or equal to a second distance threshold, sending the spray to the ground control end corresponding to the spray drone The second state information of the UAV preparing for obstacle avoidance, the second distance threshold is greater than the first distance threshold.

As shown in FIG. 12, when the spray drone 41 flies to point A, the distance of the spray drone 41 relative to the obstacle 91 is the second distance threshold, and the spray drone 41 continues to fly forward, which will cause the The distance of the spray drone 41 relative to the obstacle 91 is less than the second distance threshold. When the distance between the spray drone 41 and the obstacle 91 is less than or equal to the second distance threshold, the spray drone 41 sends the second state information that the spray drone 41 is ready to avoid obstacles to the ground control terminal. When the ground control terminal receives the second status information, the application in the ground control terminal may display a “preparing to avoid obstacles” pop-up box in the user interface shown in FIG. 14 and/or voice prompts to spray no one The machine 41 is in the state of "ready for obstacle avoidance".

Optionally, during the process from point A to point B, the spray drone 41 is in the state of “preparing to avoid obstacles”. In the state of “preparing for obstacle avoidance”, the spraying drone 41 is still in the operating route segment 45, but only flying The controller needs to control the spray drone 41 to slow down according to the speed limit instruction of the navigation module. In addition, in the process from point A to point B, the navigation module of the spray drone 41 can update the global grid map in real time according to the detection data of the millimeter wave radar, for example, update the obstacle 91 in the global grid map location information. In addition, in the process from point A to point B, the spray drone 41 can also send obstacle information and path points from point A to point B to the ground control end. The ground control terminal can display the obstacle information sent by the spray drone 41 in real time and the path point from point A to point B.

In this embodiment, when the distance of the spray drone relative to the obstacle is less than or equal to the first distance threshold, the spray drone is controlled to move from the current operating route segment to the target obstacle avoidance path, so as to prevent the spray drone from prematurely The target's obstacle avoidance path moves, resulting in missed spray, which improves the efficiency of spraying the drone. By controlling the spray drone to slow down when the distance between the spray drone and the obstacle is less than or equal to the second distance threshold, the second distance threshold is greater than the first distance threshold, that is, the spray drone is controlled from the current Before the operation route segment moves to the target obstacle avoidance path, the spray drone is controlled to slow down to prevent the spray drone from being too fast to move from the current operation route segment to the target obstacle avoidance path. In addition, by spraying the drone to the ground control terminal, the first status information of the spraying drone is avoiding obstacles, and the second status information of the obstacle avoidance is prepared, so that the ground control terminal can prompt the user to spray the drone's operating status, It is convenient for users to understand the operation of spraying drones, which improves the user experience.

An embodiment of the present invention provides an obstacle avoidance control method for spraying a drone. 15 is a flowchart of an obstacle avoidance control method for spraying a drone according to another embodiment of the present invention. As shown in FIG. 15, on the basis of the foregoing embodiment, the determination of a target obstacle avoidance path parallel to the current operational route segment according to the digital map includes:

Step S1501: Determine, according to the digital map, a plurality of obstacle avoidance paths parallel to the current operational route segment.

As shown in FIG. 16, the current operational route segment of the spray drone 41 is the operational route segment 45, and there are obstacles 91 in the current operational route segment. The navigation module can determine the operation with the current operational route segment according to the digital map established by it. A plurality of obstacle avoidance paths parallel to the route section 45. The plurality of obstacle avoidance paths may specifically be the obstacle avoidance path 92, the obstacle avoidance path 93, the obstacle avoidance path 94, the obstacle avoidance path 95, the obstacle avoidance path 96, and the obstacle avoidance path 97 as shown in FIG. Optionally, the distance between adjacent obstacle avoidance paths in the plurality of obstacle avoidance paths is a preset distance. For example, the distance between the obstacle avoidance path 92 and the work route segment 45, the distance between the obstacle avoidance path 93 and the work route segment 45, and the distance between the obstacle avoidance path 92 and the obstacle avoidance path 93 are all equal, and so on.

Step S1502: Determine the target obstacle avoidance path from the plurality of obstacle avoidance paths.

The navigation module may determine one obstacle avoidance path as the target obstacle avoidance path from the plurality of obstacle avoidance paths. Optionally, the determining the target obstacle avoidance path from the plurality of obstacle avoidance paths includes: Among the plurality of obstacle avoidance paths, the obstacle avoidance path closest to the current working route segment and without the obstacle is selected as the target obstacle avoidance path. For example, if the obstacle avoidance path 92 is the closest obstacle avoidance path to the current working route segment and there is no obstacle on the obstacle avoidance path 92, the navigation module may determine the obstacle avoidance path 92 as the target obstacle avoidance path. The target obstacle avoidance path 92 shown in FIG. 16 is specifically the target obstacle avoidance path 92 described in the foregoing embodiment.

Optionally, the method further includes: during the movement of the spray drone according to the target obstacle avoidance path, if there is an obstacle on the target obstacle avoidance road, controlling the spray drone to hover .

For example, when the spray drone 41 moves according to the target obstacle avoidance path 92, if the navigation module and/or the flight controller determines that there is an obstacle on the target obstacle avoidance path 92, the flight controller may also control spraying unmanned The hovering of the aircraft 41 means that the spraying of the drone 41 fails to bypass. Since the spray drone 41 moves from the detour state to hovering, the speed of the spray drone 41 needs to be smooth, and the movement trajectory of the spray drone 41 may also need to be smooth. Therefore, the spray drone 41 can be changed from The process from detour state to hovering is recorded as detour smooth state.

In addition, the spray drone 41 can also send the status information of the detour failure of the spray drone 41 to the ground control terminal. When the ground control terminal receives the status information, the application in the ground control terminal can be shown in Figure 14 The user interface shown shows a bullet box that says "Failed to bypass, spray drone will hover".

In this embodiment, a plurality of obstacle avoidance paths parallel to the current operation route segment are determined through a digital map, and the obstacle avoidance route closest to the current operation route segment and without obstacles is selected as the target obstacle avoidance route from the plurality of obstacle avoidance routes The path can make the spraying drone avoid the obstacle with the shortest detour when moving from the current operating route segment to the target obstacle avoidance path, which not only improves the detour efficiency of the spraying drone, but also avoids spraying The drone is leaking, which improves the efficiency of spraying the drone.

An embodiment of the present invention provides an obstacle avoidance control method for spraying a drone. 17 is a flowchart of an obstacle avoidance control method for spraying a drone according to another embodiment of the present invention. As shown in FIG. 17, on the basis of the foregoing embodiment, the control of the spray drone from the target obstacle avoidance path back to the current operational route segment to continue to perform the spray task includes:

Step S1701, in the process that the spray drone moves according to the target obstacle avoidance path, determine a target from the current position of the spray drone in the target obstacle avoidance path to the current operating route segment Return route.

As shown in FIG. 18, when the spray drone 41 moves in accordance with the target obstacle avoidance path 92, the spray drone 41 can determine from the current position of the spray drone 41 in the target obstacle avoidance path 92 to the current operation route The segment is the target return path of the operating route segment 45. For example, the current position of the spray drone 41 in the target obstacle avoidance path 92 is point a. The spray drone 41 determines the target return path from point a to the operating route segment 45, and detects whether there is an obstacle in the target return path Thing. Optionally, the spray drone 41 collects several path points in the target return route, and detects whether there are obstacles on the several path points through the digital map established by the navigation module. As shown in FIG. 18, if there is an obstacle on the target return path from point a to the operating route segment 45, the spray drone 41 continues to move forward along the target obstacle avoidance path 92. When the current position of the spray drone 41 in the target obstacle avoidance path 92 is point b, the spray drone 41 determines the target return path from point b to the operating route segment 45, and detects whether there is an obstacle in the target return path The method of detecting obstacles is the same as the aforementioned detection method, and will not be repeated here.

Step S1702: When it is determined that there is no obstacle on the target return path, the spray drone is controlled to return to the current operation along the target return path from the current position in the target obstacle avoidance path The spraying task continues to be carried out in the route segment.

It can be understood that the current position of the spray drone 41 in the target obstacle avoidance path 92 changes in real time during the forward movement of the spray drone 41 along the target obstacle avoidance path 92. Each time the current position in the target obstacle avoidance path 92 changes, the spray drone 41 can determine a target return path. Finally, the spray drone 41 can detect a target return path that is closest to the obstacle and has no obstacle.

As shown in FIG. 18, there are obstacles on the target return path from point a to the operating route segment 45, and from the point b to the target return path of the operating route segment 45, and from point c to the target return route of the operating route segment 45 There is no obstacle on the board. At this time, the flight controller can control the spraying drone 41 to return to the working route segment 45 along the target return path from point c to continue to perform the spraying task.

As shown in FIG. 18, the curvature of the target return path from point a to the operating route segment 45, the target return path from point b to the operating route segment 45, and the target return route from point c to the operating route segment 45 may also be the same, or Can be different.

In addition, in other embodiments, during the forward movement of the spray drone 41 along the target obstacle avoidance path 92, multiple target return paths from the current position to the operating route segment 45 may be determined, as shown in FIG. 19 When the spray drone 41 moves to the point a in the target obstacle avoidance path 92, the spray drone 41 can determine multiple target return paths from point a to the operating route segment 45, and return from the multiple targets A target return path without obstacles is determined in the path, and the target return path is returned to the working route section 45 along the target return path to continue to perform the spraying task. If there are obstacles in each of the multiple target return paths from point a to the operating route segment 45, the spray drone 41 can continue to move forward and determine multiple target return paths at the next position , And again determine a target return path without obstacles from the multiple target return paths.

Optionally, the controlling the spraying drone to return to the current working route segment from the current position in the target obstacle avoidance path along the target return path to continue to perform the spraying task includes: The spraying drone smoothly transitions from the current position in the target obstacle avoidance path along the target return path to the current operating route segment to continue to execute the spraying task.

As shown in FIG. 18 or FIG. 19, when the spray drone 41 returns from the current position in the target obstacle avoidance path 92 along the target return path to the operating route segment 45, the flight controller can control the spray drone 41 from The current position smoothly transitions to the working route section 45 along the target return path to continue to perform the spraying task.

Optionally, the method further includes sending the spray to the ground control end corresponding to the spray drone after the spray drone returns from the target obstacle avoidance path to the current operational route segment The third status information of successful UAV obstacle avoidance.

As shown in FIG. 12, when the spray drone 41 returns from the target obstacle avoidance path 92 to point E on the working route segment 45, and smoothes from point E to point F, the spray drone 41 is directed to the corresponding ground control end Send the third status information of spraying the drone 41 to avoid obstacles successfully. When the ground control terminal receives the third status information of successful obstacle avoidance sent by the spray drone 41, the application in the ground control terminal may display "avoid Barrier success". Optionally, when the spraying drone 41 returns to the point E on the operating route segment 45, the spraying drone 41 may also send the status information that the spraying drone 41 has returned to the corresponding ground control terminal, the ground control The application in the terminal can display "have returned" in the user interface shown in FIG. 14 by a pop-up box. As shown in FIG. 12, when the spray drone 41 moves from the point D on the target obstacle avoidance path 92 to the operating route segment 45, the spray drone 41 can also send the spray drone 41 to the corresponding ground control end For the status information of the preparation for returning home, the application in the ground control terminal can display “preparing for returning home” by popping up a frame in the user interface shown in FIG. 14.

In addition, when the spray drone 41 moves on the target obstacle avoidance path 92 and when the spray drone 41 returns from the target obstacle avoidance path 92 to the operating route segment 45, the spray drone 41 can The ground control terminal sends obstacle information and the running path of the spray drone 41.

As shown in FIG. 12, when the spray drone 41 moves from point C to point D on the target obstacle avoidance path 92, the spray drone 41 can send obstacle information to the ground control terminal in real time. The ground control terminal The application in can display the radar chart corresponding to the obstacle in the user interface according to the obstacle information. As shown in FIG. 20, 91 in the radar chart 142 indicates the obstacle, and 41 indicates the spray drone. In addition, the spray drone 41 can also send the historical path of the spray drone 41 and the waypoint to be run to the ground control terminal, the application can display the historical path and the spray drone 41 in the user interface The waypoint to be run. For example, in the

radar chart

142, 145 represents a historical path of spraying the

drone

41, and 146 represents a route point where the spraying drone 41 will operate. Among them, the historical path 145 may correspond to the path from point B to point C as shown in FIG. 12. The path point 146 to be operated may correspond to the path point on the target obstacle avoidance path 92 as shown in FIG. 12, and the spray drone 41 is located between the point C and point D on the target obstacle avoidance path 92. Optionally, the historical route 145 and the route point 146 to be executed are displayed in different colors in the user interface.

As shown in FIG. 12, when the spray drone 41 returns from the point D on the target obstacle avoidance path 92 to the point E on the work route segment 45, the spray drone 41 can send obstacles to the ground control terminal in real time Information, the application in the ground control terminal can display the radar chart corresponding to the obstacle in the user interface according to the obstacle information, as shown in FIG. 21, 91 in the radar chart 142 represents the obstacle, and 41 represents spraying nobody machine. In addition, the spray drone 41 can also send the historical path of the spray drone 41 and the waypoint to be run to the ground control terminal, the application can display the historical path and the spray drone 41 in the user interface The waypoint to be run. For example, in the

radar chart

142, 147 represents a historical path of spraying the

drone

41, and 148 represents a route point where the spraying drone 41 will operate. Among them, the historical path 147 may correspond to the path from point C to point D as shown in FIG. 12. The waypoint 148 to be operated may correspond to the waypoint on the operation route segment 45 starting from point E as shown in FIG. 12, and the spray drone 41 is located between point D and point E. Optionally, the historical route 147 and the route point 148 to be run are displayed in different colors in the user interface.

In this embodiment, during the movement of the spray drone in accordance with the target obstacle avoidance path, the distance from the current position of the spray drone in the target obstacle avoidance path to the current operating route segment is determined. A target return path, when it is determined that there are no obstacles on the target return path, the spray drone is controlled to return from the current position in the target obstacle avoidance path along the target return path to the current Continue to perform the spraying task in the operating route segment, which can make the spraying drone avoid the obstacle and return to the current operating route segment with the shortest path to continue to perform the spraying task to avoid the spray drone from leaking, further improving the unmanned spray Machine operating efficiency.

An embodiment of the present invention provides an obstacle avoidance control method for spraying a drone. Based on the above embodiment, when the flight controller spraying the drone is performing an autonomous spraying task, the flight controller can push multiple adjacent waypoints to the navigation module in real time. As shown in FIG. 22, the flight controller can 6 adjacent waypoints are pushed to the navigation module in real time. The 6 waypoints are waypoint 0, waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5. While the flight controller pushes the 6 waypoints to the navigation module, it can also push the status identifiers of the 6 waypoints. For example, waypoint 0 and waypoint 1 correspond to the first state identifier, and the first state identifier represents the slave waypoint. The operating route segment from point 0 to waypoint 1 is the historical operating route segment spraying the drone. Waypoint 2 and waypoint 3 correspond to the second status indicator, and the second state indicator indicates that the operating route segment from waypoint 2 to waypoint 3 is the current operating route segment of the spray drone. The waypoint 4 and the waypoint 5 correspond to the third status indicator, and the third state indicator indicates that the operating route segment from the waypoint 4 to the waypoint 5 is the next operating route segment spraying the drone. The navigation module can determine the historical movement trajectory and subsequent movement trajectory of the spray drone according to the multiple waypoints pushed by the flight controller and the status identification of each waypoint. When there is an obstacle in the current operating route segment of the spraying drone, the spraying drone determines the target obstacle avoidance path parallel to the current operating route segment according to the digital map in the above embodiment, and performs through the target obstacle avoidance path Bypass obstacle avoidance.

In some embodiments, the initial operating waypoint for spraying the drone may not be waypoint 0 as shown in FIG. 22, but waypoint 3 as shown in FIG. 23. At this time, the spraying drone needs to Waypoint 2 flies to waypoint 3, and the spraying task starts from waypoint 3. At this time, waypoint 0 and waypoint 1 pushed by the flight controller to the navigation module can be regarded as invalid. When an obstacle appears in the route segment from waypoint 2 to waypoint 3, the spray drone can also determine the target obstacle avoidance path parallel to the route segment according to the digital map in the above embodiment, and avoid obstacles through the target The path bypasses obstacle avoidance. The specific bypass obstacle avoidance process is consistent with the above embodiment, and will not be repeated here.

In other embodiments, when the spraying drone is performing a spraying task, the operation may be interrupted due to insufficient power, insufficient spray, etc. At this time, the spraying drone needs to return to the Home point for charging or Load the spray and return to the interrupted waypoint from the Home point to continue to perform subsequent spraying tasks. As shown in FIG. 24, waypoint 3 represents the waypoint where the operation is interrupted, and waypoint 2 represents the home point. When the spray drone returns from waypoint 2 to waypoint 3, if the way from waypoint 2 to waypoint 3 is When an obstacle appears in the route segment, the spraying drone can determine the target obstacle avoidance path parallel to the route segment according to the digital map in the foregoing embodiment, and bypass the obstacle avoidance through the target obstacle avoidance path. The specific bypass obstacle avoidance process is consistent with the above embodiment, and will not be repeated here.

In addition, as shown in Figure 25, if the 6 waypoints pushed by the flight controller to the navigation module are waypoint 0, waypoint 1, waypoint 2, waypoint 3, waypoint 4, and waypoint 5, however, the The operation route segment from point 2 to waypoint 3 is already the last route segment, when the spray drone operates to the operation route segment from waypoint 2 to waypoint 3, waypoint 4 and waypoint 5 can be regarded as invalid .

That is to say, the obstacle avoidance control method described in this embodiment is not only applicable to the obstacle avoidance bypass when the spray drone performs the spray task in the current operation route segment, but also applicable to the spray drone from the Home point Obstacle avoidance and detour when arriving at the operation waypoint.

An embodiment of the present invention provides an obstacle avoidance control device for spraying a drone. The obstacle avoidance control device may specifically be the navigation module and/or the flight controller in the foregoing embodiment. The spray drone is provided with detection equipment, and the detection equipment is used to detect obstacles. FIG. 26 is a structural diagram of an obstacle avoidance control device according to an embodiment of the present invention. As shown in FIG. 26, the obstacle avoidance control device 260 includes a memory 261, a processor 262, and a communication interface 263. Among them, the memory 261 is used to store the program code; the processor 262 calls the program code, and when the program code is executed, it is used to perform the following operations: in the process of the spraying drone performing the spraying task according to the operation route, The detection data output by the detection device, wherein the operation route includes a plurality of operation route segments; a digital map is established based on the detection data; and the spraying drone follows the current operation route segment among the plurality of operation route segments During the execution of the spraying task, if it is determined that there is an obstacle on the current operating route segment, the target obstacle avoidance path parallel to the current operating route segment is determined according to the digital map; the spray drone is controlled from all The current operating route segment moves to the target obstacle avoidance path, and controls the spray drone to move according to the target obstacle avoidance path; when it is determined to avoid the obstacle, the spray drone is controlled from all The target obstacle avoidance path returns to the current working route segment to continue to perform the spraying task.

Optionally, when the processor 262 controls the spray drone to move from the current operation route segment to the target obstacle avoidance path, it is specifically used to: when the distance of the spray drone relative to the obstacle When it is less than or equal to the first distance threshold, the spray drone is controlled to move from the current working route segment to the target obstacle avoidance path.

Optionally, the processor 262 is further configured to: during the movement of the spray drone from the current operating route segment to the target obstacle avoidance path, adjust the head of the spray drone to A first target orientation to adjust the detection direction of the detection device, wherein the first target orientation is directed from the current operational route segment to the target obstacle avoidance path and presents a first preset with the current operational route segment The direction of the angle.

Optionally, the obstacle avoidance control device further includes a communication interface; the processor 262 is further configured to: through the communication when the distance of the spray drone relative to the obstacle is less than or equal to the first distance threshold The interface 263 sends the first state information that the spray drone is avoiding obstacles to the ground control terminal corresponding to the spray drone.

Optionally, if it is determined that there is an obstacle on the current operational route segment, the processor 262 determines, according to the digital map, a target obstacle avoidance path parallel to the current operational route segment, specifically: if it is determined If there is an obstacle on the current working route segment, determine the distance of the obstacle on the current working route segment relative to the spray drone; if the distance is greater than the first distance threshold and less than the second The distance threshold determines the target obstacle avoidance path parallel to the current operational route segment according to the digital map; wherein the second distance threshold is greater than the first distance threshold.

Optionally, if it is determined that there is an obstacle on the current operational route segment, the processor 262 determines, according to the digital map, a target obstacle avoidance path parallel to the current operational route segment, specifically: The detection data of the detection device and/or the digital map determines that there is an obstacle on the current operational route segment, and then determines a target obstacle avoidance path parallel to the current operational route segment according to the digital map.

Optionally, the processor 262 is further configured to: when the distance of the spray drone relative to the obstacle is less than or equal to a second distance threshold, control the spray drone to decelerate, the second distance threshold Greater than the first distance threshold.

Optionally, the processor 262 is further configured to: when the distance of the spray drone relative to the obstacle is less than or equal to a second distance threshold, send the signal to the ground control end corresponding to the spray drone Spraying the second state information of the drone preparing for obstacle avoidance, the second distance threshold is greater than the first distance threshold.

Optionally, when the processor 262 determines a target obstacle avoidance path parallel to the current operational route segment according to the digital map, it is specifically used to determine multiple avoidance routes parallel to the current operational route segment according to the digital map Obstacle path; determining the target obstacle avoidance path from the plurality of obstacle avoidance paths.

Optionally, when the processor 262 determines the target obstacle avoidance path from the plurality of obstacle avoidance paths, it is specifically used to: select from the plurality of obstacle avoidance paths that is closest to the current operating route segment, and The obstacle avoidance path without the obstacle on it is used as the target obstacle avoidance path.

Optionally, the distance between adjacent obstacle avoidance paths in the plurality of obstacle avoidance paths is a preset distance.

Optionally, the processor 262 is further configured to: during the movement of the spray drone according to the target obstacle avoidance path, if there is an obstacle on the target obstacle avoidance path, control the spray drone to suspend stop.

Optionally, the processor 262 controls the spraying drone to return from the target obstacle avoidance path to the current operating route segment to continue to perform the spraying task, which is specifically used when the spraying drone is in accordance with the target During the movement of the obstacle avoidance path, determine the target return path from the current position of the spray drone in the target obstacle avoidance path to the current operating route segment; when it is determined that there is no obstacle on the target return path In case of objects, the spraying drone is controlled to return to the current working route segment along the target return path from the current position in the target obstacle avoidance path to continue to perform the spraying task.

Optionally, the processor 262 is further configured to adjust the direction of the spray drone's nose during the movement of the spray drone from the target obstacle avoidance path to the current operating route segment To a second target orientation to adjust the detection direction of the detection device, wherein the second target orientation is directed from the target obstacle avoidance path to the current operational route segment and presents a second Set the direction of the angle.

Optionally, the processor 262 controls the spray drone to return from the current position in the target obstacle avoidance path along the target return path to the current operating route segment to continue to perform the spray task, specifically Yu: control the spraying drone to smoothly transition from the current position in the target obstacle avoidance path along the target return path to the current operating route segment to continue to execute the spraying task.

Optionally, the processor 262 is further configured to: after the spray drone returns from the target obstacle avoidance path to the current operating route segment, control the ground corresponding to the spray drone through the communication interface 263 The terminal sends the third status information of the successful spraying drone obstacle avoidance.

Optionally, the detection data includes at least one of the following: the size of the obstacle, the distance and the direction of the obstacle relative to the spray drone.

The specific principles and implementation manners of the obstacle avoidance control device provided by the embodiments of the present invention are similar to the foregoing embodiments, and details are not described herein again.

An embodiment of the present invention provides a spray drone. FIG. 27 is a structural diagram of a spray drone provided by an embodiment of the present invention. As shown in FIG. 27, the spray drone 270 includes: a fuselage, a power system, a detection device 271, and an obstacle avoidance control device 272. The power system It includes at least one of the following: a motor 273, a propeller 274, and an electronic governor 275. The power system is installed on the fuselage to provide flight power; the obstacle avoidance control device 272 may specifically be the navigation module and/or Or the specific principle and implementation of the flight controller and the obstacle avoidance control device 272 are similar to the above embodiments, and will not be repeated here.

In addition, as shown in FIG. 27, the spray drone 270 further includes: a communication module 277, wherein the communication module 277 is used to communicate with the ground control terminal.

Optionally, the spray drone is an agricultural drone.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the obstacle avoidance control method of the spray drone described in the above embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical 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, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The above software functional units are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute the method described in each embodiment of the present invention Partial steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that, for convenience and conciseness of description, only the above-mentioned division of each functional module is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated by different functional modules according to needs, that is, the device The internal structure of is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiments, which will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims

An obstacle avoidance control method for a spray drone, the spray drone is provided with a detection device, and the detection device is used for detecting obstacles, which is characterized by comprising:

In the process of the spraying drone performing the spraying task according to the operation route, acquiring detection data output by the detection device, wherein the operation route includes a plurality of operation route segments;

Build a digital map based on the detection data;

In the process of the spraying drone performing the spraying task according to the current operation route segment of the plurality of operation route segments, if it is determined that there is an obstacle on the current operation route segment, the Describe the parallel obstacle avoidance path of the current operational route segment;

Controlling the spray drone to move from the current operation route segment to the target obstacle avoidance path, and controlling the spray drone to move according to the target obstacle avoidance path;

After it is determined to avoid the obstacle, the spraying drone is controlled to return to the current operation route segment from the target obstacle avoidance path to continue to perform the spraying task.
The method according to claim 1, wherein the controlling the spraying drone to move from the current operation route segment to the target obstacle avoidance path includes:

When the distance of the spray drone relative to the obstacle is less than or equal to the first distance threshold, the spray drone is controlled to move from the current operation route segment to the target obstacle avoidance path.
The method according to claim 1 or 2, wherein the method further comprises:

During the movement of the spray drone from the current operating route segment to the target obstacle avoidance path, the head of the spray drone is adjusted to the first target orientation to adjust the detection equipment The detection direction, wherein the first target orientation is a direction from the current operational route segment to the target obstacle avoidance path and at a first preset angle with the current operational route segment.
The method according to any one of claims 1-3, wherein the method further comprises:

When the distance of the spray drone relative to the obstacle is less than or equal to the first distance threshold, send the first state that the spray drone is avoiding obstacles to the ground control end corresponding to the spray drone information.
The method according to claim 2 or 4, wherein if it is determined that there is an obstacle on the current operational route segment, a target obstacle avoidance path parallel to the current operational route segment is determined according to the digital map ,include:

If it is determined that there is an obstacle on the current operation route segment, the distance of the obstacle on the current operation route segment relative to the spray drone is determined;

If the distance is greater than the first distance threshold and less than the second distance threshold, a target obstacle avoidance path parallel to the current operating route segment is determined according to the digital map;

Wherein the second distance threshold is greater than the first distance threshold.
The method according to any one of claims 1-5, wherein if it is determined that there is an obstacle on the current operational route segment, a target parallel to the current operational route segment is determined according to the digital map Obstacle avoidance paths, including:

If, according to the detection data of the detection device and/or the digital map, it is determined that there is an obstacle on the current operational route segment, then a target obstacle avoidance parallel to the current operational route segment is determined according to the digital map path.
The method according to claim 2 or 3, wherein the method further comprises:

When the distance of the spray drone relative to the obstacle is less than or equal to a second distance threshold, the spray drone is controlled to decelerate, and the second distance threshold is greater than the first distance threshold.
The method according to any one of claims 2, 3, and 7, wherein the method further comprises:

When the distance of the spray drone relative to the obstacle is less than or equal to the second distance threshold, send the second state of the spray drone ready to avoid obstacles to the ground control end corresponding to the spray drone Information, the second distance threshold is greater than the first distance threshold.
The method according to any one of claims 1-8, wherein the determining a target obstacle avoidance path parallel to the current operational route segment according to the digital map includes:

Determining a plurality of obstacle avoidance paths parallel to the current operational route segment according to the digital map;

The target obstacle avoidance path is determined from the plurality of obstacle avoidance paths.
The method according to claim 9, wherein the determining the target obstacle avoidance path from the plurality of obstacle avoidance paths comprises:

From the plurality of obstacle avoidance paths, the obstacle avoidance path closest to the current working route segment and without the obstacle thereon is selected as the target obstacle avoidance path.
The method according to claim 9 or 10, wherein a distance between adjacent obstacle avoidance paths in the plurality of obstacle avoidance paths is a preset distance.
The method according to any one of claims 1-11, wherein the method further comprises:

During the movement of the spray drone according to the target obstacle avoidance path, if there is an obstacle on the target obstacle avoidance path, the spray drone is controlled to hover.
The method according to any one of claims 1-12, wherein the controlling the spraying drone to return to the current operational route segment from the target obstacle avoidance path to continue to perform the spraying task includes:

During the movement of the spray drone according to the target obstacle avoidance path, determine a target return path from the current position of the spray drone in the target obstacle avoidance path to the current operating route segment;

When it is determined that there are no obstacles on the target return path, the spray drone is controlled to return from the current position in the target obstacle avoidance path along the target return path to the current operating route segment to continue Perform spraying tasks.
The method according to any one of claims 1-13, wherein the method further comprises:

During the movement of the spray drone from the target obstacle avoidance path to the current operating route segment, the head of the spray drone is adjusted to the second target orientation to adjust the detection equipment The detection direction of, wherein the second target orientation is a direction that is directed by the target obstacle avoidance path to the current operating route segment and forms a second preset angle with the current operating route segment.
The method according to claim 13 or 14, wherein the control of the spray drone returns from the current position in the target obstacle avoidance path to the current operation along the target return path The spraying tasks continue to be performed in the route segment, including:

Controlling the spraying drone to smoothly transition from the current position in the target obstacle avoidance path along the target return path to the current operating route segment to continue to execute the spraying task.
The method according to any one of claims 1-15, wherein the method further comprises:

After the spray drone returns from the target obstacle avoidance path to the current operational route segment, a third state of successful spray drone obstacle avoidance is sent to the ground control end corresponding to the spray drone information.
The method according to any one of claims 1-16, wherein the spray drone is an agricultural drone.
The method according to any one of claims 1-17, wherein the detection data includes at least one of the following:

The size of the obstacle, the distance and direction of the obstacle relative to the spray drone.
An obstacle avoidance control device for spraying an unmanned aerial vehicle. The spraying drone is provided with detection equipment. The detection equipment is used for detecting obstacles.

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, it is used to perform the following operations:

In the process of the spraying drone performing the spraying task according to the operation route, acquiring detection data output by the detection device, wherein the operation route includes a plurality of operation route segments;

Build a digital map based on the detection data;

In the process of the spraying drone performing the spraying task according to the current operation route segment of the plurality of operation route segments, if it is determined that there is an obstacle on the current operation route segment, the Describe the parallel obstacle avoidance path of the current operational route segment;

Controlling the spray drone to move from the current operation route segment to the target obstacle avoidance path, and controlling the spray drone to move according to the target obstacle avoidance path;

After it is determined to avoid the obstacle, the spraying drone is controlled to return to the current operation route segment from the target obstacle avoidance path to continue to perform the spraying task.
The obstacle avoidance control device according to claim 19, wherein when the processor controls the spray drone to move from the current working route segment to the target obstacle avoidance path, it is specifically used to:

When the distance of the spray drone relative to the obstacle is less than or equal to the first distance threshold, the spray drone is controlled to move from the current operation route segment to the target obstacle avoidance path.
The obstacle avoidance control device according to claim 19 or 20, wherein the processor is further used to:

During the movement of the spray drone from the current operating route segment to the target obstacle avoidance path, the head of the spray drone is adjusted to the first target orientation to adjust the detection equipment The detection direction, wherein the first target orientation is a direction from the current operational route segment to the target obstacle avoidance path and at a first preset angle with the current operational route segment.
The obstacle avoidance control device according to any one of claims 19-21, wherein the obstacle avoidance control device further includes a communication interface;

The processor is further configured to: when the distance of the spray drone relative to the obstacle is less than or equal to a first distance threshold, send to the ground control end corresponding to the spray drone through the communication interface The first state information that the spraying drone is avoiding obstacles.
The obstacle avoidance control device according to claim 20 or 22, wherein if it is determined that there is an obstacle on the current operation route segment, the processor determines the current operation route according to the digital map When the parallel obstacle avoidance path is used, it is specifically used to:

If it is determined that there is an obstacle on the current operation route segment, the distance of the obstacle on the current operation route segment relative to the spray drone is determined;

If the distance is greater than the first distance threshold and less than the second distance threshold, a target obstacle avoidance path parallel to the current operating route segment is determined according to the digital map;

Wherein the second distance threshold is greater than the first distance threshold.
The obstacle avoidance control device according to any one of claims 19 to 23, characterized in that, if it is determined that there is an obstacle on the current operating route segment, the processor determines and When the target obstacle avoidance path is parallel to the current operating route segment, it is specifically used for:

If, according to the detection data of the detection device and/or the digital map, it is determined that there is an obstacle on the current operational route segment, then a target obstacle avoidance parallel to the current operational route segment is determined according to the digital map path.
The obstacle avoidance control device according to claim 20 or 21, wherein the processor is further configured to: when the distance of the spray drone relative to the obstacle is less than or equal to a second distance threshold, The spray drone is controlled to decelerate, and the second distance threshold is greater than the first distance threshold.
The obstacle avoidance control device according to any one of claims 20, 21 and 25, wherein the processor is further used to:

When the distance of the spray drone relative to the obstacle is less than or equal to the second distance threshold, send the second state of the spray drone ready to avoid obstacles to the ground control end corresponding to the spray drone Information, the second distance threshold is greater than the first distance threshold.
The obstacle avoidance control device according to any one of claims 19 to 26, wherein when the processor determines a target obstacle avoidance path parallel to the current operational route segment according to the digital map, it is specifically used to:

Determining a plurality of obstacle avoidance paths parallel to the current operational route segment according to the digital map;

The target obstacle avoidance path is determined from the plurality of obstacle avoidance paths.
The obstacle avoidance control device according to claim 27, wherein when the processor determines the target obstacle avoidance path from the plurality of obstacle avoidance paths, it is specifically used to:

From the plurality of obstacle avoidance paths, the obstacle avoidance path closest to the current working route segment and without the obstacle thereon is selected as the target obstacle avoidance path.
The obstacle avoidance control device according to claim 27 or 28, wherein the distance between adjacent obstacle avoidance paths in the plurality of obstacle avoidance paths is a preset distance.
The obstacle avoidance control device according to any one of claims 19-29, wherein the processor is further configured to:

During the movement of the spray drone according to the target obstacle avoidance path, if there is an obstacle on the target obstacle avoidance path, the spray drone is controlled to hover.
The obstacle avoidance control device according to any one of claims 19 to 30, wherein the processor controls the spray drone to return to the current operational route segment from the target obstacle avoidance path to continue to perform spraying The task is specifically used to:

During the movement of the spray drone according to the target obstacle avoidance path, determine a target return path from the current position of the spray drone in the target obstacle avoidance path to the current operating route segment;

When it is determined that there are no obstacles on the target return path, the spray drone is controlled to return from the current position in the target obstacle avoidance path along the target return path to the current operating route segment to continue Perform spraying tasks.
The obstacle avoidance control device according to any one of claims 19 to 31, wherein the processor is further configured to:

During the movement of the spray drone from the target obstacle avoidance path to the current operating route segment, the head of the spray drone is adjusted to the second target orientation to adjust the detection equipment The detection direction of, wherein the second target orientation is a direction that is directed by the target obstacle avoidance path to the current operating route segment and forms a second preset angle with the current operating route segment.
The obstacle avoidance control device according to claim 31 or 32, wherein the processor controls the spray drone to return from the current position in the target obstacle avoidance path along the target return path When the current operation route segment continues to perform the spraying task, it is specifically used to:

Controlling the spraying drone to smoothly transition from the current position in the target obstacle avoidance path along the target return path to the current operating route segment to continue to execute the spraying task.
The obstacle avoidance control device according to any one of claims 19 to 33, wherein the obstacle avoidance control device further comprises: a communication interface;

The processor is also used to:

After the spray drone returns from the target obstacle avoidance path to the current operating route segment, the spray drone obstacle avoidance is sent to the ground control end corresponding to the spray drone through the communication interface Successful third status information.
The obstacle avoidance control device according to any one of claims 19-34, wherein the detection data includes at least one of the following:

The size of the obstacle, the distance and direction of the obstacle relative to the spray drone.
A spray drone is characterized by including:

body;

A power system, installed on the fuselage, is used to provide flight power;

Detection equipment for detecting obstacles; and

The obstacle avoidance control device according to any one of claims 19-35.
The spray drone according to claim 36, wherein the spray drone is an agricultural drone.
A computer-readable storage medium, characterized in that a computer program is stored thereon, the computer program is executed by a processor to implement the method of any one of claims 1-18.