WO2021237448A1 - Procédé, appareil et système de planification de trajet - Google Patents

Procédé, appareil et système de planification de trajet Download PDF

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Publication number
WO2021237448A1
WO2021237448A1 PCT/CN2020/092311 CN2020092311W WO2021237448A1 WO 2021237448 A1 WO2021237448 A1 WO 2021237448A1 CN 2020092311 W CN2020092311 W CN 2020092311W WO 2021237448 A1 WO2021237448 A1 WO 2021237448A1
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WO
WIPO (PCT)
Prior art keywords
target
path
work
work object
group
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PCT/CN2020/092311
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English (en)
Chinese (zh)
Inventor
邹亭
赵力尧
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/092311 priority Critical patent/WO2021237448A1/fr
Priority to CN202080039073.5A priority patent/CN113994171A/zh
Publication of WO2021237448A1 publication Critical patent/WO2021237448A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • This application relates to the field of navigation technology, and specifically to a method, device and system for path planning.
  • mobile platforms can be used instead of humans to complete some tasks.
  • drones can be used to take photos and inspections of electrical wiring equipment, drones can be used to spray crops, or unmanned vehicles can be used to perform operations on trees. Watering etc.
  • the user cannot independently define the work path, the flexibility is poor, and the user's needs in different work scenarios cannot be met.
  • this application provides a path planning method, device and system.
  • a path planning method including:
  • Sorting processing is performed on the target work objects to generate a target path based on the sorted target work objects.
  • a path planning device wherein the device includes a processor, a memory, and a computer program executable by the processor stored on the memory, and the processor executes all When describing the computer program, the following steps are implemented:
  • Sorting processing is performed on the target work objects to generate a target path based on the sorted target work objects.
  • a path planning system which is characterized in that it includes a movable platform and a control terminal,
  • the control terminal is configured to generate a reference path according to the reference information input by the user, determine a target work object in the work object according to the relative positional relationship between each work object in the work area and the reference path, and perform processing on the target work object. Sorting processing to generate a target path based on the sorted target job objects, and send the target path to the movable platform;
  • the movable platform is used to perform work tasks according to the target path.
  • a reference path can be generated based on the reference information input by the user, and then the target work object can be determined from the work objects according to the relative position relationship between each work object in the work area and the reference path, and then the target work objects can be sorted , In order to generate a target path according to the positions of the sorted target work objects, and make the movable platform perform work tasks according to the target path.
  • the target path is generated by the reference information input by the user, and the user can customize the work path according to the needs of the actual work scene. The determination of the work path is more flexible and can meet the needs of the user in different scenarios.
  • Figure 1(a) is a schematic diagram of an embodiment of the present application using a drone to take photos and inspect a bridge.
  • Fig. 1(b) is a schematic diagram of using drones to spray medicine on fruit trees in an embodiment of the present application.
  • Fig. 2 is a flowchart of a path planning method according to an embodiment of the present application.
  • Fig. 3 is a schematic diagram of generating a reference path according to a reference point input by a user on a map according to an embodiment of the present application.
  • Fig. 4(a) is a schematic diagram of generating a reference path according to a reference point according to an embodiment of the present application.
  • Fig. 4(b) is a schematic diagram of generating a reference path according to a reference point according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of generating a search area according to a search radius and a reference path according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of sorting target work objects to generate a target path according to an embodiment of the present application.
  • Fig. 7 is a schematic diagram of an application scenario of an embodiment of the present application.
  • FIG. 8 is a schematic diagram of the logical structure of a path planning device according to an embodiment of the present application.
  • many intelligent mobile platforms can be used to replace humans to complete some tasks.
  • drones can be used to take photos of electrical equipment, bridges, etc., to detect whether the equipment or bridges are faulty, or it can be Use drones to spray or irrigate crops, use unmanned vehicles or unmanned robots to water trees, etc., as shown in Figure 1(a), to use drones to target certain locations on the bridge (as shown in Figure 1).
  • Middle A, B, C Schematic diagram of photographing inspection. As shown in Figure 1(b), it is a schematic diagram of using drones to spray drugs on fruit trees. Before using the movable platform to perform the work task, you can plan the work path first, so that the movable platform can perform the work task according to the work path.
  • the present application provides a path planning method, which can enable users to independently define the work path of the movable platform.
  • the path planning method includes the following steps:
  • S204 Determine a target operation object in the operation object according to the relative positional relationship between each operation object in the operation area and the reference path;
  • S206 Perform a sorting process on the target work objects to generate a target path based on the sorted target work objects.
  • the path planning method of the present application can be used for the operation path planning of various movable platforms when performing various tasks such as crop irrigation, crop medicine spraying, photographing inspections, etc.
  • the movable platform can be a drone, an unmanned vehicle, or a vehicle. Intelligent mobile devices such as human robots.
  • the working objects of this application can be crops and trees to be watered or sprayed with medicines, power equipment to be photographed for inspection or a specific part of a bridge to be photographed for inspection, etc., and this application is not limited.
  • the work object may be crops
  • the movable platform may be a drone, and the drone is used to spray or water the crops with medicine.
  • the movable platform can be controlled by a control terminal.
  • the control terminal can control the movement path, movement status, and operation status of the movable platform.
  • the path planning method of this application can be used for the control terminal corresponding to the movable platform.
  • the control terminal can be various electronic devices that can communicate with the mobile platform, such as a remote control that is compatible with the mobile platform, a user's mobile phone, a tablet, a smart watch, and other terminals.
  • the control terminal may include a path planning device, and the path planning device may be an application program (APP) installed in the control terminal, and the path planning operation is performed through the APP.
  • APP application program
  • the mobile platform can survey the task execution area before performing the operation task, and collect the image or geospatial data of the area.
  • the mobile platform or the control terminal can generate a map depicting the overall view of the area based on the collected image or geospatial data. For example, it may be a digital surface model (Digital Surface Model, DSM) map, a two-dimensional map, or a three-dimensional map.
  • DSM Digital Surface Model
  • the user can select the working area of the movable platform according to the map and determine the working path of the movable platform.
  • each object in the image can be recognized according to the collected images and machine learning algorithms, and a semantic image of the area can be generated.
  • the semantic image is marked with the categories of various objects in the area, and the area can be identified according to the semantic image.
  • the job object in.
  • this application can independently input the reference information of the work path by the user.
  • the user can determine the expected work path according to the generated map, and input the corresponding work path according to the expected work path.
  • Reference Information Then the reference path is generated according to the reference information input by the user, and the target job object is determined from the job objects according to the relative positional relationship between the job objects in the job area preselected by the user and the reference path.
  • the target job object is the current job to be performed Job object. Then the target job objects are sorted, so as to generate the target path when the movable platform executes the job task according to the positions of the target job objects after sorting processing.
  • the target job object can be determined on the side of the control terminal, and the target job objects can be sorted and sent to the movable platform.
  • the movable platform generates the target path according to the sorted target job objects, or the control terminal generates the target path After sending it to the mobile platform, this application is not restricted.
  • the planning of the job path can be made more flexible, and the user can independently define the job path according to actual needs to meet the needs of different job scenarios.
  • the reference information may be information such as a reference point or a reference line input by the user according to the expected work path.
  • the user may directly input the coordinate information of the reference point or the reference line to generate the reference path.
  • the control terminal includes a human-computer interaction interface
  • the human-computer interaction interface can contain a map corresponding to the work area.
  • the map can be a two-dimensional map or a three-dimensional map. The user can directly determine a reference point or a reference line on the map to generate Reference path.
  • the user can use the way of dots, according to the expected work path, click on several reference points on the map, and then generate a reference path based on the reference points.
  • the user can directly draw a reference line on the map according to the expected work path, and then generate the reference path according to the reference line drawn by the user.
  • the reference path can be in various forms such as a straight line, a curved line, or a polyline, and can be flexibly set according to actual needs, which is not limited in this application.
  • FIG 3 it is a schematic diagram generated by a reference path in an embodiment of this application.
  • the schematic diagram is a scene of determining the operation path when a drone is used to spray drugs on trees. It can be based on the reference point selected by the user on the map ( The white dots in the figure) generate a reference path.
  • the reference points selected by the user can be connected in sequence according to the order in which the user clicks to generate the reference path, as shown in Figure 4(a) As shown, each point is the reference point selected by the user, and the number corresponding to each point indicates the order of the user's dots.
  • the reference points can be connected in sequence according to the order of dots to generate a reference path.
  • the reference points in order to avoid more round trips in the final path, after the user makes a point, the reference points can be connected in order according to the distance of each reference point, so as to obtain the shortest distance and more optimized reference.
  • the path as shown in Fig.
  • each point is the reference point selected by the user, and the number of each point indicates the order in which the user strikes.
  • the reference points can be connected in order according to the distance of the reference points to obtain the reference path.
  • the control terminal can also perform a preliminary assessment of the generated reference path. If the path has more recursive phenomena, or the path has some other defects, it can Set a pop-up window to prompt the user so that the user can update or modify the reference path.
  • the work object in the work area can be identified in combination with semantic images, for example, trees to be watered, power equipment to be photographed, etc. can be identified. Then, the target work object is determined according to the relative positional relationship between each work object and the reference path.
  • the target work object can be a work object on or near the reference path, for example, the distance from the reference path is less than a certain threshold, or the reference path Job objects in a certain area around.
  • the search area when determining the target operation object according to the relative positional relationship between the operation object in the operation area and the reference path, the search area may be determined in the operation area according to the reference path and the search radius, and then the operation within the search area may be determined.
  • the object is determined as the target job object.
  • the user selects a reference point on the map (the white point 51 in the figure), and then generates a reference path 52 based on the reference point, and according to the search radius R
  • the reference path 52 can determine a polygonal area 53, which is the search area, and all the trees in the search area are the target objects of the medicine to be sprayed.
  • the determined search area can be displayed on the map of the user interaction interface and the determined target work object can be marked, so that the user can determine whether the search area and the determined target work object are consistent with each other. Expected, whether it is necessary to adjust the reference path, etc.
  • the search radius can be preset or determined in real time. For example, in some embodiments, the search radius may be determined based on the size of the work object first, and then the search area may be determined based on the search radius and the reference path. Take the scenario of using no one to spray drugs on trees as an example. Trees are usually distributed in a certain order, as shown in Figure 5. If only a row of trees needs to be sprayed with drugs, you can The width determines the search radius. For example, the search radius can be set to half of the tree width, so that the search area determined based on the reference path and the search radius basically only includes this row of trees. Of course, if two adjacent rows of trees need to be sprayed each time, The search radius can be set according to the tree width and the distance between two rows of trees. The search radius can be flexibly set according to actual needs, and this application is not limited.
  • the target job object After determining the target job object that needs to perform the job task, the target job object can be sorted.
  • the sorting is to determine the order in which the mobile platform performs the job operations on the target job object.
  • the target job object can be determined according to the sorted target job object.
  • the target work objects may be sorted according to the distance between the target work objects and the end points of the reference path.
  • the end point can be the starting point or the end point of the reference path. For example, the distance between each target work object and the start or end point of the reference path can be determined, and the target work objects can be sorted according to the distance.
  • a certain point can be selected from the target operation object to represent the position of the target object.
  • the center of the target operation object or the center of other important parts can represent the target operation object.
  • the characteristics of the job tasks in the scene are determined. Take the scenario where drones spray drugs on trees as an example. Usually drones spray drugs on the center of the tree so that the entire tree can be covered. Therefore, the center of the tree (the center of the tree) can be selected to represent the tree. Of course, if it is a scene where an unmanned car irrigates the tree, the tree is usually irrigated from the side of the tree, so a certain point on the side of the tree can be selected to represent the location of the tree.
  • the reference path may include multiple successively connected line segments.
  • the corresponding target work object may be determined according to the distance between each target work object and each line segment in the reference path. Line segments, and then sort the target job objects according to the sequence of the line segments corresponding to the target job objects.
  • each line segment in the reference path may correspond to one or more target work objects.
  • the target work objects When the target work objects are sorted according to the sequence of the line segments corresponding to the target work objects, the target work objects can be sorted according to the target work object and the reference The distance of each line segment of the path divides the target work object into multiple groups, where each group corresponds to a line segment in the reference path, and the distance between the target work object in each group and the line segment in the reference path corresponding to the group The shortest. Then, the target job objects in each group can be sorted, and the target job objects can be sorted according to the sequence of the line segments of the reference path corresponding to each group and the order of the target job objects in the group.
  • the vertical feet of each target work object in each group on the line segment of the reference path corresponding to the group can be determined first, and then the vertical feet of each target work object in each group can be determined according to each group.
  • the distance between the vertical feet of the target work object and the end point of the reference path sorts the target work objects in the group.
  • the target work objects can also be sorted according to the distance between each target work object in the group and the end point of the line segment corresponding to the group.
  • the circular point in the figure represents the reference point determined by the user
  • the triangular point represents the position of the tree center
  • the dashed line 61 in the figure is the reference path generated from the reference point.
  • the reference path includes successive connections.
  • the line segment 1, line segment 2, line segment 3 of each line segment can correspond to a group. You can first determine the distance between the tree center of the tree AI in the search area and the line segment 1, line segment 2, line segment 3, and then divide the tree AI to the nearest distance
  • the tree AC is divided into the group corresponding to the line segment 1
  • the tree DF is divided into the group corresponding to the line segment 2
  • the tree GI is divided into the group corresponding to the line segment 3.
  • sort the tree centers in each group separately to determine the vertical feet from the tree centers of the trees in each group to the line segment corresponding to the group, and then determine the distance between each vertical foot and the end point of the reference path, and then determine the distance between each vertical foot and the end point of the reference path. Sort from near to far to determine the sorting order of the tree cores in each group. Then the tree core AI can be sorted again according to the order of the line segments to get the final sorting result. Finally, the tree core AI can be sorted according to the sorted tree core AI. The position gets the target path, as shown by the solid line 62 in the figure.
  • the method for sorting the target task objects is not limited to the methods listed in this application, and any method that can sort the target objects is applicable to this application.
  • the work height needs to be considered when performing work tasks on the target work object.
  • a height can be determined for each tree center position, and a three-dimensional target path with height information can be obtained.
  • obstacle avoidance processing is also required for the obstacles.
  • different obstacles have different characteristics, when avoiding obstacles, you can determine the appropriate obstacle avoidance strategy according to the type of obstacle. For example, take drones performing operational tasks as an example. Since there may be obstacles such as telephone poles and houses in the operation scene, for larger obstacles such as houses, if the obstacle is bypassed, The UAV may need to travel a relatively long distance, which affects the efficiency of the operation. Therefore, the method of flying over the obstacle can be adopted to avoid the obstacle.
  • the type of obstacle can be determined according to the semantic map of the pre-generated work area. After the obstacle avoidance strategy is determined, the generated target path can be updated according to the obstacle avoidance strategy to obtain the path after obstacle avoidance processing.
  • the generated target path may have more bends, for example, it fluctuates left and right in the horizontal direction, or swings up and down in the vertical direction. This will cause the drone to constantly adjust its direction when performing operations, such as one to the left, one to the right, one to go up, and one to go down, affecting its operational efficiency. Therefore, in some embodiments, the generated target path may be further smoothed, for example, the path may be smoothed in the horizontal direction or the vertical direction. Take the drone spraying drugs on trees as an example. The tree core is usually used as the location of the tree.
  • UAVs have been widely used in agriculture, such as spraying or watering fruit trees.
  • UAVs spray medicine on fruit trees, they automatically sort according to the position and spacing of fruit trees in the work area to determine the work path. In this way, the user cannot customize the job path, and is not flexible enough to meet user needs. Therefore, this embodiment provides a method that can realize the user's master planning of the work path.
  • FIG. 7 is a schematic diagram of the application scenario of the embodiment of the application
  • the user can install a designated APP on the control terminal 72, and communicate with the drone 71 through the control terminal 72 to realize the planning of the operation path.
  • UAV 71 can first survey the mission execution area, collect images and geospatial data of the mission execution area, and send them to the control terminal.
  • the control terminal will generate data based on the data collected by the drone. Maps and semantic maps of the area, such as two-dimensional or three-dimensional maps, DSM maps, etc.
  • the control terminal can display a map of the area to the user.
  • the map can be two-dimensional or three-dimensional.
  • the user can select the work area on the map and select a reference point on the map according to the expected work path. You can randomly click on the map to select a reference point.
  • a prompt message "whether to select this point as a reference point" can be displayed for the user to further confirm.
  • the selected reference point can be displayed on the map for the user to view.
  • the reference points can be connected in sequence according to the distance between the reference points to generate a reference path, as shown in Figure 3. Then you can determine the search radius according to the width of the fruit trees. For example, if you only need to spray one row of fruit trees at a time, you can determine the search radius to be half the width of the fruit trees. The spacing and tree width determine the search radius.
  • the search area can be determined according to the reference path and the search radius, as shown in Figure 5, and the location of the center of each fruit tree in the work area can be determined by combining the semantic map and the DSM map, and then determine whether the location of each tree center is within the search area, if it is, Then the fruit tree is determined as the fruit tree to be sprayed.
  • the reference path can be connected by multiple line segments in sequence. After determining the fruit trees to be sprayed in the work area, the distance between the core of the fruit tree to be sprayed and each line segment in the reference path can be determined, and then the distance to be sprayed can be determined.
  • the fruit tree is divided into groups corresponding to the nearest line segment.
  • the vertical foot of each fruit tree to be sprayed and the corresponding line segment of the group can be determined, and then the distance between the end point of the reference path and each vertical foot can be determined, according to the distance between the vertical foot and the end point of the reference path, from closest to Sort the fruit trees in the group to obtain the sorting result of the fruit trees in the group, and then obtain the sort order of all fruit trees to be sprayed according to the connection order of the line segments in the reference path and the sort order of the fruit trees in the group.
  • the height corresponding to the position of each core can also be determined according to the working height during spraying. According to the position of the cores of the fruit trees to be sprayed, the sort order and the corresponding working height of each core is that The work path can be determined, and a medicine spray switch can be set for the position of the fruit tree.
  • the semantic map can be used to determine the type of obstacles in the work area, and the appropriate obstacle avoidance strategy can be selected according to the obstacle type, and the generated obstacles can be updated according to the obstacle avoidance strategy.
  • Job path In order to obtain a smoother work path, the generated work path can also be smoothed in the horizontal or vertical direction. The user-defined work path can make the determination of the work path more flexible and improve the user experience.
  • the present application also provides a path planning device.
  • the device 80 includes a processor 81, a memory 82, and a computer program executable by the processor 81 stored on the memory 82, so When the processor 81 executes the computer program, the following steps are implemented:
  • Sorting processing is performed on the target work objects to generate a target path based on the sorted target work objects.
  • the processor is further configured to: before generating the reference path according to the reference information input by the user:
  • a human-computer interaction interface includes a map corresponding to the work area, and the reference information includes a reference point or a reference line determined by a user on the map.
  • the processor when the processor is configured to determine the target work object in the work object according to the relative positional relationship between the work object in the work area and the reference path, it is specifically configured to:
  • the work object located in the search area is determined as the target work object.
  • the processor is further configured to:
  • the search radius is determined according to the size of the work object.
  • the processor when the processor is used to sort the target job object, it is specifically used to:
  • the target work object is sorted according to the distance between the target work object and the end point of the reference path.
  • the reference path includes a plurality of line segments connected in sequence, and when the processor is used to sort the target job object, it is specifically used to:
  • the target work object is sorted according to the sequence of the line segments corresponding to the target work object.
  • the processor is used for sorting the target job objects according to the sequence of the line segments corresponding to the target job objects, specifically using At:
  • each group corresponds to one line segment, and the distance between the target work object in each group and the line segment corresponding to the group is the shortest;
  • the target job objects are sorted according to the sequence of the line segments corresponding to the group and the sequence of the target job objects in the group.
  • the processor when the processor is used to sort the target objects in each group, it is specifically used to:
  • the processor when configured to generate a target path based on the sorted target job objects, it is specifically configured to:
  • the target path is determined according to the sorted target work object's position and work height.
  • the processor is further configured to:
  • An obstacle avoidance strategy is determined according to the type of the obstacle, and the target path is updated according to the obstacle avoidance strategy.
  • the processor is further configured to:
  • the work object includes crops.
  • this application also provides a path planning system, which includes a movable platform and a control terminal,
  • the control terminal is configured to generate a reference path according to the reference information input by the user, determine a target work object in the work object according to the relative positional relationship between each work object in the work area and the reference path, and perform processing on the target work object. Sorting processing to generate a target path based on the sorted target job objects, and send the target path to the movable platform;
  • the movable platform is used to perform work tasks according to the target path.
  • an embodiment of this specification also provides a computer storage medium in which a program is stored, and the program is executed by a processor to implement the path planning method in any of the foregoing embodiments.
  • the embodiments of this specification may adopt the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes.
  • Computer usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • CD-ROM compact disc
  • DVD digital versatile disc
  • Magnetic cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • the relevant part can refer to the part of the description of the method embodiment.
  • the device embodiments described above are merely illustrative, where the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
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Abstract

L'invention concerne un procédé, un appareil et un système de planification de trajet. Le procédé consiste à : générer un trajet de référence conformément à des informations de référence entrées par un utilisateur (S202), déterminer ensuite des objets d'opération cibles dans des objets d'opération conformément à la relation de position relative entre tous les objets d'opération dans une zone d'opération et dans le trajet de référence (S204), puis trier les objets d'opération cibles pour générer un trajet cible sur la base des objets d'opération cibles triés (S206), et exécuter une tâche d'opération conformément au trajet cible. Le trajet cible est généré au moyen des informations de référence entrées par l'utilisateur, et l'utilisateur peut personnaliser un trajet d'opération conformément à des besoins dans un scénario d'opération réel, ce qui rend le réglage du trajet d'opération plus flexible, et permet de satisfaire les besoins de l'utilisateur dans différents scénarios.
PCT/CN2020/092311 2020-05-26 2020-05-26 Procédé, appareil et système de planification de trajet WO2021237448A1 (fr)

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PCT/CN2020/092311 WO2021237448A1 (fr) 2020-05-26 2020-05-26 Procédé, appareil et système de planification de trajet
CN202080039073.5A CN113994171A (zh) 2020-05-26 2020-05-26 路径规划方法、装置及系统

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Cited By (3)

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