WO2022095040A1 - 无人机的喷洒航线规划方法和设备 - Google Patents

无人机的喷洒航线规划方法和设备 Download PDF

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Publication number
WO2022095040A1
WO2022095040A1 PCT/CN2020/127572 CN2020127572W WO2022095040A1 WO 2022095040 A1 WO2022095040 A1 WO 2022095040A1 CN 2020127572 W CN2020127572 W CN 2020127572W WO 2022095040 A1 WO2022095040 A1 WO 2022095040A1
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Prior art keywords
area
obstacle
flight
sub
spraying
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PCT/CN2020/127572
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English (en)
French (fr)
Inventor
邹亭
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2020/127572 priority Critical patent/WO2022095040A1/zh
Publication of WO2022095040A1 publication Critical patent/WO2022095040A1/zh

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    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular, to a method and equipment for planning a spraying route of an unmanned aerial vehicle.
  • the drone will fly along the boundary of the obstacle to avoid the obstacle when detecting an obstacle along the route segment, and return to the route segment, if there are multiple
  • the UAV will use the boundary of the obstacle to repeatedly avoid the obstacle, which will cause the UAV to repeatedly circumvent the obstacle, thus affecting the operation efficiency of the UAV.
  • the present application provides a method and equipment for planning a spraying route of an unmanned aerial vehicle, which are used to reduce the number of times that the unmanned aerial vehicle repeatedly flies around the obstacle area and improve the operation efficiency of the unmanned aerial vehicle.
  • the present application provides a method for planning a spraying route for an unmanned aerial vehicle, including:
  • a connecting route between spray sub-routes of multiple sub-flight areas is determined.
  • Memory is used to store program instructions.
  • the processor is used to invoke the execution of program instructions in memory:
  • the flying area includes the area to be sprayed.
  • the flight area is divided into a plurality of sub-flight areas according to the obstacle area.
  • a connecting route between spray sub-routes of multiple sub-flight areas is determined.
  • the present application provides a control terminal, including the spraying route planning device for an unmanned aerial vehicle as described in the second aspect of the present application.
  • the present application provides a computer-readable storage medium, comprising instructions, when the instructions are executed on a computer, the computer executes the method for planning a spraying route for an unmanned aerial vehicle as described in the first aspect of the present application.
  • the present application provides a computer program product comprising instructions, which, when the instructions are run on a computer, cause the computer to execute the method for planning a spraying route for an unmanned aerial vehicle as described in the first aspect of the present application.
  • the method and device for planning a spraying route of an unmanned aerial vehicle divides the flight area in the operation area into a plurality of sub-flight areas according to the obstacle area in the operation area, and then divides each sub-flight area respectively. Plan the spraying sub-routes of the drone, and determine the connecting routes between the spraying sub-routes of multiple sub-flight areas; then control the drone to spray the spraying areas in the flight area according to the spraying sub-routes and the connecting routes.
  • Fig. 1 is the schematic diagram that the spraying drone provided by the embodiment of the application sprays crops
  • FIG. 2 is an example diagram of an application scenario provided by an embodiment of the present application
  • FIG. 3 is a flowchart of a method for planning a spraying route of an unmanned aerial vehicle provided by an embodiment of the present application
  • FIG. 4 is a schematic diagram of a flight area and an obstacle area in a work area provided by an embodiment of the present application
  • FIG. 5 is a schematic diagram of dividing a flight area into a plurality of sub-flight areas according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of planning spraying sub-routes for sub-flight areas according to an embodiment of the present application
  • FIG. 7 is a schematic diagram of a connection route of spraying sub-routes of each sub-flight area provided by an embodiment of the present application.
  • FIG. 8 is a flowchart of a method for planning a spraying route for an unmanned aerial vehicle provided by another embodiment of the present application.
  • FIG. 9 is a schematic diagram of a spraying route for planning a flight area according to an obstacle area according to an embodiment of the present application.
  • FIG. 10 is a flowchart of a method for planning a spraying route for a drone provided by another embodiment of the present application.
  • FIG. 11 is a schematic diagram of dividing and obtaining multiple sub-flight regions according to another embodiment of the present application.
  • FIG. 12 is a schematic diagram of planning a route according to obstacle areas of different sizes according to another embodiment of the present application.
  • FIG. 13 is a schematic diagram of planning a route for a concave area provided by an embodiment of the application.
  • FIG. 14 is a schematic structural diagram of a spraying route planning device for an unmanned aerial vehicle provided by an embodiment of the application;
  • FIG. 15 is a schematic structural diagram of a control terminal provided by an embodiment of the application.
  • FIG. 16 is a schematic diagram of a spraying route planning system for an unmanned aerial vehicle according to an embodiment of the present application.
  • a component when referred to as being "fixed to" another component, it can be directly on the other component or there may also be a centered component. When a component is considered to be “connected” to another component, it may be directly connected to the other component or there may be an intervening component at the same time.
  • Embodiments of the present application provide a method and device for planning a spraying route for an unmanned aerial vehicle.
  • the unmanned aerial vehicle may be a plant protection unmanned aerial vehicle with a load-carrying capacity, such as a spraying unmanned aerial vehicle, which is not limited in this embodiment.
  • a medicine box is installed in the spraying drone, the medicine box can accommodate the medicine liquid, and the spraying drone can carry the medicine liquid to spray the crops in the operation area during the flight.
  • the spraying drone sprays the rice in the farmland.
  • a spray drone 101 is used here for schematic illustration, wherein the spray drone can be equally replaced by other movable platforms.
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • FIG. 2 shows a spraying drone 101 and a ground control terminal 102 for spraying the drone.
  • the ground control terminal 102 of the spraying drone can control the spraying drone 101, and the ground control terminal 102 may include one of a remote controller, a smart phone, a tablet computer, a laptop computer and a wearable device or more.
  • the spraying route planning device used to execute the methods of the following embodiments may be set in the spraying drone 101 or in the ground control terminal 102 of the spraying drone.
  • the spraying Some components of the route planning device may be set on the spraying drone 101, and some components may be set on the ground control terminal 102 of the spraying drone, which is not specifically limited here.
  • a schematic illustration is made by taking the spray route planning device that may be set in the ground control terminal 102 .
  • the embodiments of the present application take the ground control terminal 102 including the remote controller 1021 and the terminal device 1022 as an example for schematic illustration.
  • the terminal device 1022 is, for example, a smart phone, a wearable device, a tablet computer, etc., but the embodiment of the present application is not limited thereto.
  • the UAV when the UAV flies along the route to the obstacle area, it flies along the boundary of the obstacle area, circles to the opposite side of the obstacle area, and then continues to fly along the original route, and then flies to the opposite side of the obstacle area.
  • fly along the boundary of the obstacle area again, circle to the opposite side of the obstacle area and continue to fly along the original route, and repeat the flight around the obstacle area.
  • the UAV will repeatedly fly around the obstacle area, which will affect the operation efficiency of the UAV.
  • the present application provides a spraying route planning method and equipment for drones, taking the obstacle area in the operation area as the area where the route is not planned, and dividing the flight area into a plurality of sub-flight areas according to the obstacle area in the operation area, Plan spraying sub-routes for each divided sub-flight area, so that the drone will spray in another sub-flight area after flying in the sub-flight area.
  • There is no obstacle area in the sub-flight area so no one The drone does not need to repeatedly fly around the obstacle area in the sub-flight area, thereby reducing the number of times the drone repeatedly flies around the obstacle area, saving the energy consumption of the drone, improving the operation efficiency of the drone, and meeting the requirements of precision agriculture. need.
  • FIG. 3 is a flowchart of a method for planning a spraying route for an unmanned aerial vehicle provided by an embodiment of the application.
  • the method in this embodiment is applied to a ground control terminal as an example.
  • the method in this embodiment may include:
  • control terminal first determines the operation area planned by the user, indicating that the spraying route planning needs to be performed in the operation area.
  • the determination of the work area planned by the user may include the following possible implementations:
  • control terminal receives the work area indication sent from other terminal devices, and determines the work area planned by the user according to the work area indication.
  • the work area indication includes, for example, a digital map of the work area.
  • the control terminal may plan the work area according to the user's operation on the control terminal. For example, the control terminal may display a digital map of the target area on the display device, and the user may display a digital map of the target area based on the displayed digital map. Perform the job locale setting operation. Correspondingly, the control terminal detects the operation area setting operation of the user on the displayed digital map, and determines the operation area planned by the user according to the operation area setting operation.
  • the operation area setting operation is a frame selection operation.
  • the area selected by the frame selection operation in the digital map of the target area is the operation area planned by the user.
  • the frame selection area of the frame selection operation is usually a rectangle, but this implementation The example is not limited to this, and other shapes are also possible.
  • the control terminal also generates a digital map of the target area, or receives the digital map of the target area sent by other terminal devices, or downloads the digital map of the target area from the server.
  • the process of generating the digital map of the target area by the control terminal is, for example, acquiring an image captured by a surveying and mapping drone over the target area, and generating a digital map of the target area according to the image.
  • the control terminal can acquire the images shot by the surveying and mapping drone over the target area through an intermediate device (such as a storage device (SD card, etc.)), or the control terminal can receive the images shot by the surveying and mapping drone over the target area.
  • an intermediate device such as a storage device (SD card, etc.
  • the obstacle area refers to the area containing obstacles, and the obstacles may be buildings, telephone poles, etc. In some examples, the obstacles can also be trees.
  • the obstacle area is the area that the UAV needs to avoid, and it is also the area that does not need to plan the UAV route.
  • the flight area is the area where the route of the drone needs to be planned.
  • the flying area includes the area to be sprayed, and the area to be sprayed represents the area where the drone needs to turn on the nozzle for spraying.
  • the area to be sprayed includes a farmland area
  • the farmland area may refer to an area where crops (rice, fruit trees, etc.) are planted, and the drone performs a spraying operation when flying over the farmland area.
  • crops rice, fruit trees, etc.
  • the drone performs a spraying operation when flying over the farmland area.
  • the flight area also includes a water surface area, which means that the UAV's route is also planned for the water surface area, wherein, when the UAV flies over the water surface area, no spraying operation is performed to save pesticides and other liquid chemicals.
  • the area to be sprayed includes a water surface area, and the drone performs a spraying operation when flying over the water surface area.
  • the drone performs a spraying operation when flying over the water surface area.
  • the flight area further includes a farmland area, which means that a route of the UAV is also planned for the farmland area, wherein, when the UAV flies over the farmland area, no spraying operation is performed.
  • the flight area is an area other than the obstacle area in the work area.
  • the work area includes an obstacle area and a flight area, and the area other than the obstacle area in the work area is the flight area.
  • the obstacle area is not limited to the shape shown in FIG. 4 , and may be a circle, a polygon, an irregular shape, or the like.
  • the work area includes an obstacle area, a flight area, and other areas.
  • the drone does not fly in other areas, such as the water surface area.
  • a possible implementation manner of the above-mentioned S302 is to acquire an image photographed by a surveying and mapping drone over the working area, and determine the obstacle area and the flight area in the working area according to the image obtained by photographing.
  • the obstacles in the obstacle area, the plants in the flight area, the water surface and other images are different, and the obstacle area and the flight area can be distinguished through the images.
  • a semantic map of the operation area may be generated according to the images captured by the surveying and mapping drone over the operation area, and then the obstacle area and the flight area in the operation area may be determined by using the semantic map. Semantic maps can improve the accuracy of determining obstacle areas and flight areas, and also improve the accuracy of subsequent route planning.
  • the semantic map is a pixel map, and each pixel corresponds to a semantic value to identify the semantic information corresponding to the pixel.
  • the semantic map is rasterized, and the semantic map is divided into multiple grids.
  • the size of the grid can control the planning accuracy of the route. For example, if the spray width of the drone is 6m and the width of the rasterization is 1m, the semantic map will generate many consecutive 6m ⁇ 1m grids in the direction of the route, each grid obviously contains multiple pixels. Since different pixels have different semantics, in order to have one semantic for each grid, the semantic values of individual pixels within the same grid can be prioritized so that each grid presents one semantic. Based on the semantics of each mesh, it can be determined whether the mesh is an obstacle area or a flight area.
  • the priority order is as follows:
  • fruit trees may be given priority below the water surface.
  • the semantics of the grid is telephone pole. This consideration is based on safety, because utility poles, buildings, fruit trees, etc. affect flight safety for drones.
  • the water surface is to ensure that pesticides will not be sprayed on the water surface to avoid pollution.
  • the obstacle area can be determined by extracting the boundary of the obstacle.
  • the pixel map is essentially a matrix. If the length and width of the matrix are used to represent the position of pixels, the values in the matrix are represented as corresponding semantic values.
  • the Sobel operator is used to calculate the contour boundary.
  • the horizontal template for detecting horizontal edges is:
  • the detection of vertical flat edge along the vertical cross plate is:
  • the matrix value corresponding to the semantics of the building is set to 1 in the pixel matrix, and the rest are set to 0, and then processed in the above manner.
  • a threshold value is set to 3, and those greater than 3 are boundary points, the corresponding boundary can be extracted.
  • the obstacle area is defined by the user, for example, the user's obstacle drawing operation is detected, and the obstacle area in the work area is determined according to the user's obstacle drawing operation.
  • the flight area can also be determined in a similar manner.
  • the flight area in addition to determining the obstacle area and the flight area in the work area, the flight area is divided into a plurality of different sub-flight areas according to the obstacle area, and the multiple sub-flight areas do not overlap each other. area.
  • the flight area is divided into 6 different sub-flight areas according to the obstacle area, which are respectively the sub-flight area 1 to the sub-flight area 6 .
  • Sub-flight area 1 to sub-flight area 6 do not overlap each other, so as to avoid planning routes in overlapping areas.
  • Fig. 5 shows that the operation area includes one obstacle area as an example.
  • the number of obstacle areas included in the operation area is multiple.
  • the flight area is divided into multiple sub-flight areas according to the multiple obstacle areas, so as to ensure that each sub-flight area does not overlap with each obstacle area.
  • a spraying sub-route of the drone is planned for each sub-flight area. For example, after rasterizing each sub-flight area, take the midpoint of each grid as the feature point, and connect the feature points in turn to form the spraying sub-route in the sub-flight area, as shown in Figure 6.
  • the sub-flying area includes a non-spraying area in addition to the area to be sprayed, the spraying is turned on for the area to be sprayed, and the spraying is turned off for the non-spraying area to obtain the final spraying sub-route.
  • each of the above-mentioned sub-flight areas is a convex area.
  • the sub-flight areas 1 to 6 are all convex areas.
  • Each sub-flight area is a convex area and is an area where a route needs to be planned, which reduces the difficulty of route planning, and also prevents the planned route from crossing other areas, and prevents the drone from flying out of the sub-flight when flying in the sub-flight area. area.
  • S305 Determine the connection route between the spraying sub-routes of the multiple sub-flight areas.
  • the connection routes between the spraying sub-routes of the multiple sub-flight areas are also determined.
  • the route allows the drone to quickly fly to another sub-flight area after completing the spraying sub-route in one sub-flight area.
  • FIG. 7 shows the connecting routes between the spraying sub-routes of two sub-flight areas in the above-mentioned multiple sub-flight areas, so that each spraying sub-route and the connecting route form a continuous route.
  • the drone after determining the spraying sub-routes of each sub-flight area and the connecting routes between the spraying sub-routes of these sub-flight areas, the drone is controlled to spray the area to be sprayed according to these spraying sub-routes and the connecting routes.
  • the control terminal sends these spraying sub-routes and connecting routes to the drone.
  • the drone After the drone receives these routes, it flies and sprays according to the spraying sub-route of the sub-flight area, and then flies to the next sub-route according to the connecting route between the current sub-flight area and the spraying sub-route of the next sub-flight area.
  • the flight area in the operation area is divided into a plurality of sub-flight areas according to the obstacle area in the operation area, and the UAV is planned for each sub-flight area respectively.
  • FIG. 8 is a flowchart of a method for planning a spraying route for an unmanned aerial vehicle provided by another embodiment of the present application. As shown in FIG. 8 , the method of this embodiment may include:
  • the size of the obstacle area is determined, and it is determined whether the size of the obstacle area is greater than or equal to a preset size threshold. If it is, it means that the size of the obstacle area is relatively large. If the method of flying around the obstacle area in the prior art is used to avoid the obstacle area, the UAV will repeatedly circle the obstacle area and affect the operation of the UAV. efficiency. Therefore, in this embodiment of the present application, when it is determined that the size of the obstacle area is greater than or equal to the preset size threshold, the flight areas in the operation area are divided into blocks to plan routes respectively. For details, refer to the following S804-S807.
  • S803 may include: determining the number of pixels of the obstacle area in the digital map or the semantic map, and determining whether the number of pixels is greater than or equal to a preset threshold of the number of pixels. If the number of pixels is greater than or equal to the preset pixel number threshold, it means that the obstacle area occupies more image areas in the above-mentioned map, and the size of the obstacle area is determined to be greater than or equal to the preset size threshold. If the number of pixels is less than the preset pixel number threshold, it means that the obstacle area occupies less image area in the above-mentioned map, and it is determined that the size of the obstacle area is smaller than the preset size threshold.
  • S803 may include: determining the perimeter of the obstacle area according to the digital map or the semantic map, and determining whether the perimeter is greater than or equal to a preset perimeter threshold. If the perimeter is greater than or equal to the preset perimeter threshold, it is determined that the size of the obstacle area is greater than or equal to the preset size threshold. If the perimeter is smaller than the preset perimeter threshold, it is determined that the size of the obstacle area is smaller than the preset size threshold.
  • a spraying route of the flight area is also planned according to the obstacle area, the spraying route avoids the obstacle area, and the spraying route includes multiple sub-spraying route segments.
  • the target spraying route segment is determined from the multiple sub-spraying route segments, and the target spraying route segment is the sub-spraying route segment that avoids the obstacle area, such as the sub-spraying route segment that avoids the obstacle area in Figure 9 route segment.
  • the length of the obstacle avoidance route segment in the obstacle avoidance obstacle area in the target spray route segment is greater than or equal to the preset length threshold. If the length of the obstacle avoidance route segment of the obstacle area in the target spray route segment is greater than or equal to the preset length threshold, it is determined that the size of the obstacle area is greater than or equal to the preset size threshold. If the length of the obstacle avoidance route segment of the obstacle avoidance obstacle area in the target spray route segment is smaller than the preset length threshold, it is determined that the size of the obstacle area is smaller than the preset size threshold.
  • the preset length threshold is determined according to the straight-line distance between the starting point and the ending point of the obstacle avoidance route segment.
  • L1 Determine whether L1 is smaller than the product of L0 and a preset value.
  • the preset value is, for example, 2.
  • L1 ⁇ 2*L0 it can be determined that the size of the obstacle area is smaller than the preset size threshold.
  • L1 ⁇ 2*L0 it can be Determine that the size of the obstacle area is greater than or equal to a preset size threshold.
  • S806 Determine the connection route between the spraying sub-routes of the multiple sub-flight areas.
  • the following S808 and S809 are performed.
  • the heuristic obstacle avoidance search strategy is used to plan the spraying route of the flight area according to the obstacle area, as shown in Figure 9.
  • the heuristic obstacle avoidance search strategy is, for example, using search algorithms such as A* and ⁇ *.
  • control the drone After planning the spraying route of the flight area according to the obstacle area, control the drone to spray the area to be sprayed in the flight area according to the spraying route. Referring to FIG. 9 , the drone bypasses the obstacle according to the spraying route. object area.
  • different strategies for avoiding the obstacle area are determined according to the different sizes of the obstacle area, and when the size of the obstacle area is large, the flight area is divided into For multiple sub-flight areas, plan spraying routes in each sub-flight area, and then connect the spraying routes in each sub-flight area to form the final route, avoiding the need to bypass the entire obstacle for each detour, and improving the The operation efficiency of man-machine saves the energy consumption of UAV.
  • the spraying route of the flight area is planned according to the obstacle area, so that the UAV can fly around the obstacle area and improve the detouring efficiency of the UAV.
  • FIG. 10 is a flowchart of a method for planning a spraying route for an unmanned aerial vehicle provided by another embodiment of the present application. As shown in FIG. 10 , the method of this embodiment may include:
  • S1002. Determine an obstacle area and a flying area in the operation area, where the flying area includes the area to be sprayed.
  • the number of obstacle areas in the work area is determined to be multiple.
  • each of the plurality of obstacle areas is greater than or equal to the preset size threshold, the following S1004-S1005 and S1008-S1009 are performed.
  • the obstacle area whose size is greater than or equal to the preset size threshold may be referred to as the first target obstacle area, that is, it is determined whether each obstacle area in the plurality of obstacle areas includes the first target obstacle area.
  • the obstacle area whose size is smaller than the preset size threshold may be referred to as the second target obstacle area.
  • each obstacle area includes the first target obstacle area, divide the flight area into a plurality of sub-flight areas according to the first target obstacle area.
  • each obstacle area is a first target obstacle area
  • the flight area is divided into a plurality of sub-flight areas according to these first target obstacle areas. There is no overlapping area between each sub-flight area obtained by division and each first target obstacle area.
  • a spraying sub-route of the drone is planned for each sub-flight area divided in S1004.
  • the multiple obstacle areas include the first target obstacle area and the second target obstacle area, divide the combined area into multiple sub-flight areas according to the first target obstacle area.
  • the flight area and the at least one second target obstacle area are used as a combined area, according to the first target obstacle area.
  • the target obstacle area is divided into multiple sub-flight areas. At least one sub-flight area in the divided multiple sub-flight areas includes the second target obstacle area.
  • a sub-flight area may include one second target obstacle area, or may include multiple second target obstacle areas.
  • N sub-flight areas of the multiple sub-flight areas include the first target obstacle area
  • M sub-flight areas include the second target obstacle area
  • N is an integer greater than or equal to 1
  • M is greater than or equal to 1 the integer
  • the sub-flight area 1 includes the second target obstacle area, so the spraying sub-route in the sub-flight area 1 avoids the second target obstacle area.
  • the multiple obstacle areas are multiple second target obstacle areas, plan a spraying route for the flight area according to the multiple second target obstacle areas.
  • each obstacle area is a second target obstacle area
  • the spraying route of the flight area is planned according to these second target obstacle areas.
  • S808 for how to plan the spraying route of the flight area according to the second target obstacle area, reference may be made to the relevant description in S808 in the embodiment shown in FIG. 8 , which will not be repeated here.
  • the spraying route obtained by planning in this embodiment detours around each second target obstacle area.
  • each obstacle area in the plurality of obstacle areas by judging the size of each obstacle area in the plurality of obstacle areas, it is determined whether each obstacle area belongs to the first target obstacle area or the second target obstacle area. Use the corresponding strategy to plan the route. Guarantee the efficiency of the UAV around the obstacle area, improve the operation efficiency of the UAV, and save the energy consumption of the UAV.
  • the solutions of the above-mentioned embodiments of the present application are suitable for route planning in concave areas, such as being divided into special concave geometric areas by small hills, ponds, villages, and the like.
  • the working area or the flying area is a concave area, wherein the concave area is an unplanned area, and no spraying is required. Therefore, the concave area can be used as an obstacle area, and the flying area Divide, for example, into sub-flight area 1 to sub-flight area 3.
  • the planned route will pass through the concave area, so that the drone flies out of the flight area, which brings security risks.
  • the solution of the present application solves this problem, and the planned route can not only cover the flight area, but also avoid crossing this part of the concave area that does not require planning, thereby improving the operation efficiency of the UAV.
  • Embodiments of the present application further provide a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, the program may include part of the method for planning a spraying route for an unmanned aerial vehicle in any of the foregoing embodiments or all steps.
  • FIG. 14 is a schematic structural diagram of a spraying route planning device for an unmanned aerial vehicle according to an embodiment of the application.
  • the spraying route planning device 1400 for an unmanned aerial vehicle in this embodiment includes a memory 1401 and a processor 1402 .
  • the memory 1401 and the processor 1402 may be connected by a communication bus.
  • the processor 1402 may also be connected to a communication device through a communication bus, and the communication device is used to communicate with external devices.
  • Memory 1401 is used to store program instructions.
  • the processor 1402 is used to invoke the program instructions in the memory 1401 to execute:
  • the sub-flying area is a convex area.
  • the area to be sprayed includes a farmland area.
  • the flight area includes a water surface area, wherein when the drone flies over the water surface area, the drone does not perform a spraying operation.
  • the number of obstacle areas is multiple.
  • the processor 1402 is specifically configured to: divide the flight area into multiple sub-flight areas according to the multiple obstacle areas.
  • the processor 1402 is further configured to determine whether the size of the obstacle area is greater than or equal to a preset size threshold.
  • the processor 1402 when the processor 1402 divides the flight area into a plurality of sub-flight areas according to the obstacle area, it is specifically configured to: if so, divide the flight area into the plurality of sub-flight areas according to the obstacle area.
  • the processor 1402 is further configured to: if not, plan a spraying route in the flight area according to the obstacle area, wherein the spraying route avoids the obstacle area; and control the drone to perform the spraying on the area to be sprayed according to the spraying route. spray.
  • the number of obstacle areas is multiple.
  • the processor 1402 is specifically configured to: determine whether each obstacle area in the plurality of obstacle areas is greater than or equal to the preset size threshold;
  • the processor 1402 is further configured to: if the multiple obstacle areas include the first target obstacle area and the second target obstacle area, divide the combined area into multiple sub-flights according to the first target obstacle area. area, wherein the combined area includes the flight area and the second target obstacle area, at least one sub-flight area in the multiple sub-flight areas includes the second target obstacle area, and the second target obstacle area is a plurality of The obstacle area in the obstacle area whose size is smaller than the preset size threshold; the spraying sub-route of the drone is planned for each sub-flight area, wherein, the spraying sub-route of the sub-flight area including the second target obstacle area is based on the first target obstacle area.
  • the two target obstacle areas are planned, and the second target obstacle area is avoided; the connecting routes between the spraying sub-routes of the multiple sub-flight areas are determined; according to the spraying sub-routes and the connecting routes, the unmanned aerial vehicle is controlled to Spray the area to be sprayed.
  • the processor 1402 is further configured to: if the multiple obstacle areas are multiple second target obstacle areas, plan the spraying route of the flight area according to the multiple second target obstacle areas, wherein the spraying route avoids more a second target obstacle area, the second target obstacle area is an obstacle area whose size is smaller than a preset size threshold in the plurality of obstacle areas; and control the drone to spray the to-be-sprayed area according to the spraying route .
  • the processor 1402 is further configured to acquire a digital map or a semantic map of the work area.
  • the processor 1402 when determining whether the size of the obstacle area is greater than or equal to the preset size threshold, is specifically configured to: determine the number of pixels of the obstacle area in the digital map or the semantic map, if the number of pixels is greater than or equal to the preset size threshold.
  • the processor 1402 determines the number of pixels of the obstacle area in the digital map or the semantic map, if the number of pixels is greater than or equal to the preset size threshold.
  • the number of pixels threshold is determined, the size of the obstacle area is greater than or equal to the preset size threshold; or, the perimeter of the obstacle area is determined according to the digital map or semantic map, if the perimeter is greater than or equal to the preset perimeter threshold, Determine that the size of the obstacle area is greater than or equal to a preset size threshold.
  • the processor 1402 is further configured to: plan a spraying route of the flight area according to the obstacle area, wherein the spraying route avoids the obstacle area, and the spraying route includes a plurality of sub-spraying route segments.
  • the processor 1402 when determining whether the size of the obstacle area is greater than or equal to a preset size threshold, is specifically configured to: determine a target spraying route segment from a plurality of sub-spraying route segments, wherein the target spraying route segment is a pair of The sub-spraying route segment for avoiding the obstacle area; and if the length of the obstacle-avoiding route segment in the obstacle-avoiding obstacle area in the target spraying route segment is greater than or equal to the preset length threshold, determine that the size of the obstacle area is greater than or equal to the preset length The size threshold, where the length threshold is determined according to the straight-line distance between the starting point and the ending point of the obstacle avoidance route segment.
  • the spraying route planning device 1400 of the drone further includes: a display device 1403 and an interaction device 1404 .
  • the processor 1402 may be connected with the display device 1403 and the interaction device 1404 through a communication bus.
  • the display device 1403 and the interaction device 1404 are collectively referred to as a touch display screen.
  • the processor 1402 is further configured to: acquire an image captured by the surveying and mapping drone over the target area; generate a digital map of the target area according to the image; and display the digital map of the target area on the display device 1403 .
  • the processor 1402 when determining the work area planned by the user, is specifically configured to include: detecting the user's operation of setting the work area displaying the digital map through the interaction device 1404, and determining the work area planned by the user according to the detected operation.
  • the processor 1402 when determining the obstacle area and the flight area in the work area according to the image, is specifically configured to: generate a semantic map of the work area according to the image; use the semantic map to determine the obstacle area in the work area. and flight area.
  • the spraying route planning equipment of the UAV of this embodiment can be used to implement the technical solutions in the above method embodiments of the present application, and the implementation principles and technical effects thereof are similar, and will not be repeated here.
  • FIG. 15 is a schematic structural diagram of a control terminal provided by an embodiment of the present application.
  • the control terminal 1500 in this embodiment includes: a memory 1501 and a processor 1502 .
  • the memory 1501 and the processor 1502 may be connected by a communication bus.
  • the processor 1502 may also be connected to a communication device through a communication bus, and the communication device is used to communicate with external devices.
  • Memory 1501 is used to store program instructions.
  • the sub-flying area is a convex area.
  • the area to be sprayed includes a farmland area.
  • the flight area includes a water surface area, wherein when the drone flies over the water surface area, the drone does not perform a spraying operation.
  • the processor 1502 is further configured to determine whether the size of the obstacle area is greater than or equal to a preset size threshold.
  • the processor 1502 divides the flight area into a plurality of sub-flight areas according to the obstacle area, it is specifically configured to: if so, divide the flight area into a plurality of sub-flight areas according to the obstacle area.
  • the number of obstacle areas is multiple.
  • the processor 1402 is specifically configured to: determine whether each obstacle area in the plurality of obstacle areas is greater than or equal to the preset size threshold;
  • the processor 1502 is further configured to: if the multiple obstacle areas include the first target obstacle area and the second target obstacle area, divide the combined area into multiple sub-flights according to the first target obstacle area. area; wherein, the combined area includes the flight area and the second target obstacle area, at least one sub-flight area in the multiple sub-flight areas includes the second target obstacle area, and the second target obstacle area is a plurality of The obstacle area in the obstacle area whose size is smaller than the preset size threshold; the spraying sub-route of the drone is planned for each sub-flight area, wherein the spraying sub-route of the sub-flight area including the second target obstacle area is based on the first target obstacle area.
  • the processor 1502 is further configured to: if the multiple obstacle areas are multiple second target obstacle areas, plan the spraying route of the flight area according to the multiple second target obstacle areas, wherein the spraying route avoids more a second target obstacle area, the second target obstacle area is an obstacle area whose size is smaller than a preset size threshold in the plurality of obstacle areas; and control the drone to spray the to-be-sprayed area according to the spraying route .
  • the processor 1502 is further configured to acquire a digital map or a semantic map of the work area.
  • the processor 1502 when determining whether the size of the obstacle area is greater than or equal to the preset size threshold, is specifically configured to: determine the number of pixels of the obstacle area in the digital map or the semantic map, if the number of pixels is greater than or equal to the preset size threshold.
  • the threshold of the number of pixels is determined, the size of the obstacle area is greater than or equal to the preset size threshold; or, the perimeter of the obstacle area is determined according to the digital map or semantic map, if the perimeter is greater than or equal to the preset perimeter threshold, Determine that the size of the obstacle area is greater than or equal to a preset size threshold.
  • the processor 1502 is further configured to: plan a spraying route of the flight area according to the obstacle area, wherein the spraying route avoids the obstacle area, and the spraying route includes a plurality of sub-spraying route segments.
  • the processor 1402 when determining whether the size of the obstacle area is greater than or equal to a preset size threshold, is specifically configured to: determine a target spraying route segment from a plurality of sub-spraying route segments, wherein the target spraying route segment is a pair of The sub-spraying route segment for avoiding the obstacle area; and if the length of the obstacle-avoiding route segment in the obstacle-avoiding obstacle area in the target spraying route segment is greater than or equal to the preset length threshold, determine that the size of the obstacle area is greater than or equal to the preset length The size threshold, where the length threshold is determined according to the straight-line distance between the starting point and the ending point of the obstacle avoidance route segment.
  • control terminal 1500 further includes: a display device 1503 and an interaction device 1504 .
  • the processor 1502 may be connected with the display device 1503 and the interaction device 1504 through a communication bus.
  • the display device 1503 and the interaction device 1504 are collectively referred to as a touch display screen.
  • the processor 1502 is further configured to: acquire an image captured by the surveying and mapping drone over the target area; generate a digital map of the target area according to the image; and display the digital map of the target area on the display device 1503 .
  • the processor 1402 is specifically configured to include: detecting the user's operation of setting the work area displaying the digital map through the interaction device 1504, and determining the work area planned by the user according to the detected operation.
  • the processor 1502 when determining the obstacle area and the flight area in the work area, is specifically configured to: acquire an image taken by the surveying and mapping drone over the work area; determine the obstacle area and the flight area in the work area according to the image. flight area.
  • the processor 1502 when determining the obstacle area and the flight area in the work area according to the image, is specifically configured to: generate a semantic map of the work area according to the image; use the semantic map to determine the obstacle area in the work area. and flight area.
  • control terminal in this embodiment can be used to execute the technical solutions in the above method embodiments of this application, and the implementation principles and technical effects thereof are similar, and are not repeated here.
  • FIG. 16 is a schematic diagram of a spraying route planning system for an unmanned aerial vehicle provided by an embodiment of the application. As shown in FIG. 16 , in this embodiment, the unmanned aerial vehicle is used as an example of a spraying unmanned aerial vehicle.
  • the spraying route planning system 1600 includes: a spraying drone 1601 and a control terminal 1602 .
  • the spraying drone 1601 includes the spraying route planning equipment of the drone.
  • the control terminal 1602 includes the spray route planning equipment of the drone.
  • the spraying drone 1601 includes a part of the spraying route planning device of the drone, and the control terminal 1602 includes another part of the spraying route planning device of the drone.
  • the spraying route planning equipment of the UAV can adopt the structure of the embodiment shown in FIG. 14 , and correspondingly, can implement the technical solutions in the above-mentioned method embodiments, and the implementation principles and technical effects thereof are similar, and will not be repeated here.
  • the spraying route planning system 1600 for drones in this embodiment may further include: a surveying and mapping drone 1603 .
  • the surveying and mapping drone 1603 is used to take the images involved in the above scheme.

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Abstract

一种无人机(101，1601)的喷洒航线规划方法和装置，方法包括：确定用户规划的作业区域(S301)；确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域(S302)；根据障碍物区域将飞行区域划分成多个子飞行区域(S303)；为每一个子飞行区域规划无人机的喷洒子航线(S304)；确定多个子飞行区域的喷洒子航线之间的连接航线(S305)；根据喷洒子航线和连接航线控制无人机(101，1601)对待喷洒区域进行喷洒(S306)。使得无人机(101，1601)在子飞行区域飞行喷洒完成后再在另一子飞行区域内飞行喷洒，从而减少无人机(101，1601)重复绕着障碍物区域飞行的次数，提高无人机(101，1601)的作业效率。

Description

无人机的喷洒航线规划方法和设备 技术领域
本申请涉及无人机技术领域，尤其涉及一种无人机的喷洒航线规划方法和设备。
背景技术
在农业行业，无人机越来越广泛地得到应用，无人机可以按照预先规划的航线自动飞行及作业，也可以实时受控于用户的手动操作来飞行及喷洒作业。其中，喷洒作业可以包括喷洒农药、肥料或种子等。在无人机按照预先规划的航线飞行的场景中，用户预先框选出作业区域，如果作业区域内包括有障碍物区域，则规划规避该障碍物区域的航线，使无人机飞行时绕行该障碍物区域。如果航线中的航线段被障碍物阻挡，那么无人机会在沿该航线段飞行检测到障碍物时会沿障碍物的边界飞行以绕开障碍物，并回到该航线段，如果存在多个航线段被障碍物阻挡时，无人机会利用障碍物的边界反复对障碍物进行避绕，这会使得无人机多次重复绕行该障碍物，从而影响无人机的作业效率。
发明内容
本申请提供一种无人机的喷洒航线规划方法和设备，用于减少无人机重复绕着障碍物区域飞行的次数，提高无人机的作业效率。
第一方面，本申请提供了一种无人机的喷洒航线规划方法，包括：
确定用户规划的作业区域。
确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域。
根据障碍物区域将飞行区域划分成多个子飞行区域。
为每一个子飞行区域规划无人机的喷洒子航线。
确定多个子飞行区域的喷洒子航线之间的连接航线。
根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。
第二方面，本申请提供了一种无人机的喷洒航线规划设备，包括：存储器和处理器。
存储器用于存储程序指令。
处理器用于调用存储器中的程序指令执行：
确定用户规划的作业区域。
确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域。
根据障碍物区域将飞行区域划分成多个子飞行区域。
为每一个子飞行区域规划无人机的喷洒子航线。
确定多个子飞行区域的喷洒子航线之间的连接航线。
根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。
第三方面，本申请提供一种控制终端，包括如本申请第二方面所述的无人机的喷洒航线规划设备。
第四方面，本申请提供一种计算机可读存储介质，包括指令，当指令在计算机上运行时，使得计算机执行如本申请第一方面所述的无人机的喷洒航线规划方法。
第五方面，本申请提供一种包含指令的计算机程序产品，当指令在计算机上运行时，使得计算机执行如本申请第一方面所述的无人机的喷洒航线规划方法。
结合上述技术方案，本申请提供的无人机的喷洒航线规划方法和设备，根据作业区域中的障碍物区域，将作业区域中的飞行区域划分为多个子飞行区域，再分别为每个子飞行区域规划无人机的喷洒子航线，并确定多个子飞行区域的喷洒子航线之间的连接航线；然后根据喷洒子航线和连接航线控制无人机对飞行区域中的喷洒区域进行喷洒。使得无人机在子飞行区域飞行喷洒完成后再在另一子飞行区域内飞行喷洒，所以无人机在子飞行区域内无需重复绕着障碍物区域飞行，从而减少无人机重复绕着障碍物区域飞行的次数，节省无人机的能量消耗，提高无人机的作业效率。
附图说明
图1为本申请实施例提供的喷洒无人机对农作物进行喷洒的示意图；
图2为本申请一实施例提供的应用场景示例图；
图3为本申请一实施例提供的无人机的喷洒航线规划方法的流程图；
图4为本申请一实施例提供的作业区域内包括飞行区域和障碍物区域的一种示意图；
图5为本申请一实施例提供的将飞行区域划分为多个子飞行区域的一种示意图；
图6为本申请一实施例提供的对子飞行区域规划喷洒子航线的一种示意图；
图7为本申请一实施例提供的各子飞行区域的喷洒子航线的连接航线的一种示意图；
图8为本申请另一实施例提供的无人机的喷洒航线规划方法的流程图；
图9为本申请一实施例提供的根据障碍物区域规划飞行区域的喷洒航线的一种示意图；
图10为本申请另一实施例提供的无人机的喷洒航线规划方法的流程图；
图11为本申请另一实施例提供的划分得到多个子飞行区域的一种示意图；
图12为本申请另一实施例提供的根据不同尺寸的障碍物区域规划航线的一种示意图；
图13为本申请一实施例提供的对凹形区域规划航线的一种示意图；
图14为本申请一实施例提供的无人机的喷洒航线规划设备的结构示意图；
图15为本申请一实施例提供的控制终端的结构示意图；
图16为本申请一实施例提供的无人机的喷洒航线规划系统的示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接 到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请实施例提供的一种无人机的喷洒航线规划方法和设备，该无人机例如可以是具有载重能力的植保无人机，例如喷洒无人机，本实施例对此不做限定。该喷洒无人机中安装有药箱，药箱可以容纳药液，喷洒无人机可以承载药液在飞行过程中对作业区域中的农作物进行喷洒。如图1所示，喷洒无人机对农田的水稻进行喷洒。这里以喷洒无人机101来进行示意性说明，其中，喷洒无人机可以被其它可移动平台同等替换。
图2为本申请一实施例提供的应用场景示意图，如图2所示，图2中示出了喷洒无人机101和喷洒无人机的地面控制终端102。其中，喷洒无人机的地面控制终端102可以对喷洒无人机101进行控制，所述地面控制终端102可以包括遥控器、智能手机、平板电脑，膝上型电脑和穿戴式设备中的一种或多种。
其中，用于执行下述各实施例的方法的喷洒航线规划设备可以设置在喷洒无人机101中或者设置在喷洒无人机的地面控制终端102中，在某些实施例中，所述喷洒航线规划设备的一部分部件可以设置喷洒无人机101上，一部分部件可以设置喷洒无人机的地面控制终端102，在这里不做具体的限定。这里以喷洒航线规划设备可以设置在地面控制终端102中来进行示意性说明。
本申请实施例以地面控制终端102包括遥控器1021和终端设备1022为例来进行示意性说明。该终端设备1022例如是智能手机、可穿戴设备、平板电脑等，但本申请实施例并不限于此。
由于现有技术中无人机在沿着航线飞行至靠近障碍物区域时，沿着障碍物区域的边界飞行，绕至障碍物区域的相对另一侧再继续沿着原航线飞行，再次飞行至靠近障碍物区域时，再次沿着障碍物区域的边界飞行，绕至障碍物区域的相对另一侧再继续沿着原航线飞行，重复绕着障碍物区域飞行。如果障碍物区域比较大时，无人机会重复多次绕着障碍物区域飞行，影响无人机的作业效率。
因此，本申请提供无人机的喷洒航线规划方法和设备，将作业区域中的障碍物区域作为不规划航线的区域，根据作业区域中的障碍物区域，将飞行区域划分为多个子飞行区域，分别针对各个划分得到的子飞行区域规划喷洒子航线，使得无人机在子飞行区域飞行喷洒完成后再在另一子飞行区域内飞行喷洒，子飞行区域内不存在障碍物区域，所以无人机在子飞行区域内无需重复绕着障碍物区域飞行，从而减少无人机重复绕着障碍物区域飞行的次数，节省无人机的能量消耗，提高无人机的作业效率，满足精准农业的需求。
图3为本申请一实施例提供的无人机的喷洒航线规划方法的流程图，本实施例的方法以应用于地面控制终端为例，如图3所示，本实施例的方法可以包括：
S301、确定用户规划的作业区域。
本实施例中，控制终端先确定用户规划的作业区域，说明需要在该作业区域内进行喷洒航线规划。其中，确定用户规划的作业区域可以包括如下几种可能的实现方式：
在一种可能的实现方式中，控制终端接收来自其它终端设备发送的作业区域指示，根据作业区域指示，确定用户规划的作业区域。该作业区域指示比如包括作业区域的数字地图。
在另一种可能的实现方式中，控制终端可以根据用户对该控制终端的操作来规划作业区域，比如，控制终端在显示装置上显示目标区域的数字地图，用户基于显示的目标区域的数字地图执行作业区域设置操作。相应地，控制终端检测到用户对显示的数字地图的作业区域设置操作，根据该作业区域设置操作，确定用户规划的作业区域。该作业区域设置操作为框选操作，相应地，该框选操作在目标区域的数字地图中框选的区域为用户规划的作业区域，该框选操作框选的区域通常为矩形，但本实施例并不限于此，也可以是其它形状。
其中，控制终端还生成目标区域的数字地图，或者，接收其它终端设备发送的目标区域的数字地图，或者，从服务器端下载目标区域的数字地图。其中，控制终端生成目标区域的数字地图的过程比如是：获取测绘无人机在目标区域上空拍摄的图像，根据该图像生成目标区域的数字地图。其中，控制终端可以通过中间装置(比如存储装置(SD卡等))获取测绘无人机在目标区域上空拍摄的图像，或者，控制终端接收测绘无人机发送的在目标区域上空拍摄的图像。
S302、确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域。
本实施例中，在确定用户规划的作业区域后，确定该作业区域中的障碍物区域和飞行区域，障碍物区域是指包含有障碍物的区域，障碍物可以是建筑物、电线杆等。在一些例子中，障碍物也可以是树木。障碍物区域是无人机需要规避的区域，也是无需规划无人机航线的区域。
飞行区域是需要规划无人机的航线的区域。其中，飞行区域包括待喷洒区域，待喷洒区域表示无人机需要开启喷头进行喷洒的区域。
在一种实现方式中，待喷洒区域包括农田区域，农田区域可以是指种植农作物(水稻、果树等)的区域，无人机在农田区域上方飞行时执行喷洒操作，例如可以应用于控制无人机对农作物喷洒农药杀虫等场景。可选的，飞行区域还包括水面区域，表示对水面区域也规划无人机的航线，其中，无人机在水面区域上方飞行时，不执行喷洒操作，节省农药等药液。
在另一种实现方式中，待喷洒区域包括水面区域，无人机在水面区域上方飞行时执行喷洒操作，例如可以应用于控制无人机对水面喷洒鱼料等场景。可选的，飞行区域还包括农田区域，表示对农田区域也规划无人机的航线，其中，无人机在农田区域上方飞行时，不执行喷洒操作。
在一些可选的例子中，飞行区域为作业区域中除障碍物区域之外的区域。如图4所示，图4示出的作业区域的例子中，作业区域内包含有障碍物区域和飞行区域，其中，作业区域中除障碍物区域之外的区域为飞行区域。障碍物区域不限于图4所示的形状，可以是圆形或多边形或不规则的形状等。
在另一些可选的例子中，作业区域包括障碍物区域和飞行区域，还包括其它区域。无人机在其它区域内不飞行，其它区域比如是水面区域。
其中，上述S302的一种可能的实现方式为，获取测绘无人机在作业区域上空拍摄的 图像，根据拍摄获得的图像来确定作业区域中的障碍物区域和飞行区域。障碍物区域中的障碍物、飞行区域中的种植物、水面等图像各不同，通过图像可以区分出障碍物区域和飞行区域。具体地，可以是先根据测绘无人机在作业区域上空拍摄的图像生成作业区域的语义地图，再利用语义地图确定作业区域中的障碍物区域和飞行区域。通过语义地图能够提高确定障碍物区域和飞行区域的准确性，也提升了后续航线规划的精确性。
其中，语义地图是一种像素地图，每一个像素对应一个语义值标识该像素对应的语义信息。根据喷洒方向，将语义地图栅格化，将语义地图划分为多个网格。其中，栅格的尺寸可以控制航线的规划精度。例如，如果无人机的喷洒宽度是6m，栅格化的宽度是1m，则将语义地图在航线方向上生成许多连续的6m×1m的网格，显然每个网格包含多个像素。由于不同像素具有不同的语义，为了使得每个网格有一个语义，可以对同一网格内的各个像素的语义值进行优先级排序，以使每个网格呈现一个语义。根据每个网格的语义，可以确定该网格是障碍物区域还是飞行区域。
其中，优先级顺序例如如下：
电线杆>建筑>果树>水面>农田>其他
在一些情况下，果树的优先级可以低于水面。
例如当一个网格内存在多个语义，分别为[电线杆，农田，其他]语义时，根据上述优先顺序，可以确定该网格的语义是电线杆。这样的考虑是基于安全性，因为电线杆、建筑、果树等对于无人机来说是影响飞行安全的。在喷洒农药的场景下，水面是为了保证农药不会喷洒到水面上，避免污染。
其中，本实施例可以通过提取出障碍物的边界，以确定障碍物区域。像素地图本质是一个矩阵，如果利用矩阵的长宽表示像素的位置，矩阵中的值表示为对应的语义值。
在一种可能的例子，采用Sobel算子进行计算轮廓边界。
检测水平边沿横向模板为：
Figure PCTCN2020127572-appb-000001
检测垂直平边沿纵向横板为：
Figure PCTCN2020127572-appb-000002
图像的每一个像素的横向及纵向梯度近似值可用以下的公式结合，来计算梯度的大小G：
Figure PCTCN2020127572-appb-000003
如果需要提取地图中障碍物(比如建筑物)的轮廓边界，则在像素矩阵中将建筑物语义对应的矩阵值置为1，其余置为0，再通过上述方式处理即可。
例如处理下式P中1值对应的边界：
Figure PCTCN2020127572-appb-000004
检测水平边沿横向模板处理：
Figure PCTCN2020127572-appb-000005
检测垂直平边沿纵向模板处理：
Figure PCTCN2020127572-appb-000006
然后计算梯度的大小：
此处为简化处理，采用|G|＝|G x|+|G y|的方式进行计算，即将上述|P x|与|P y|相加得到：
Figure PCTCN2020127572-appb-000007
如果设定一个阈值为3，大于3的为边界点，则可以提取出对应的边界。
在另一种可能的实现方式中，障碍物区域是用户划定，比如检测到用户的障碍物划定操作，根据用户的障碍物划定操作，确定作业区域中的障碍物区域。飞行区域也可以采用类似方式来确定。
S303、根据障碍物区域将飞行区域划分成多个子飞行区域。
本实施例中，在确定出作业区域中的障碍物区域和飞行区域之外，根据障碍物区域将飞行区域划分为多个不同的子飞行区域，这多个子飞行区域相互之间不存在重叠的区域。例如如图5所示，根据障碍物区域将飞行区域划分为6个不同的子飞行区域，分别为子飞行区域1至子飞行区域6。子飞行区域1至子飞行区域6互不重叠，避免在重复的区域规划航线。
其中，图5以作业区域内包括一个障碍物区域为例示出，在另一些可选的实施例中，作业区域内包括的障碍物区域的数量为多个，相应地，在确定作业区域内的多个障碍物区域后，根据这多个障碍物区域将飞行区域划分为多个子飞行区域，以保证各个子飞行区域内均不与各障碍物区域存在重叠的区域。
S304、为每一个子飞行区域规划无人机的喷洒子航线。
本实施例中，在划分为多个子飞行区域后，为每一个子飞行区域规划无人机的喷洒子航线。比如：在将每个子飞行区域栅格化后，取每个网格的中点为特征点，依次连接各特征点，从而形成该子飞行区域内的喷洒子航线，如图6所示。又例如如果子飞行区域中除了待喷洒区域之外还包括不喷洒区域，则对于待喷洒区域开启喷洒，不喷洒区域关闭喷洒，以获得最终的喷洒子航线。
可选的，上述每个子飞行区域为凸形区域，比如参见图5，子飞行区域1至子飞行区域6均为凸形区域。每个子飞行区域为凸形区域且是需要规划航线的区域，降低了航线规划的难度，也避免了规划的航线跨过其它区域，避免无人机在子飞行区域内飞行时飞出该子飞行区域。
S305、确定多个子飞行区域的喷洒子航线之间的连接航线。
本实施例中，在为每个子飞行区域规划喷洒子航线后，为了保证无人机在各子飞行区域间飞行的连续性，还确定多个子飞行区域的喷洒子航线之间的连接航线，连接航线可以使无人机完成一个子飞行区域的喷洒子航线后快速飞行至另一个子飞行区域。
如图7所示，图7中示出到上述多个子飞行区域中两个子飞行区域的喷洒子航线之间的连接航线，使得各喷洒子航线与连接航线形成一条连续的航线。
S306、根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。
本实施例中，在确定各个子飞行区域的喷洒子航线和这些子飞行区域的喷洒子航线之间的连接航线后，根据这些喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。比如：控制终端将这些喷洒子航线和连接航线发送给无人机。无人机接收到这些航线后，根据子飞行区域的喷洒子航线进行飞行且喷洒，再根据当前子飞行区域与下一个子飞行区域的喷洒子航线之间的连接航线飞行，飞行至下一个子飞行区域，再根据该下一个子飞行区域的喷洒子航线进行飞行且喷洒，以此类推，以完成上述所有航线的飞行及待喷洒区域内的喷洒任务。
因此，本实施例提供的无人机的喷洒航线规划方法，根据作业区域中的障碍物区域，将作业区域中的飞行区域划分为多个子飞行区域，再分别为每个子飞行区域规划无人机的 喷洒子航线，并确定多个子飞行区域的喷洒子航线之间的连接航线；然后根据喷洒子航线和连接航线控制无人机对飞行区域中的喷洒区域进行喷洒。使得无人机在子飞行区域飞行喷洒完成后再在另一子飞行区域内飞行喷洒，所以无人机在子飞行区域内无需重复绕着障碍物区域飞行，从而减少无人机重复绕着障碍物区域飞行的次数，节省无人机的能量消耗，提高无人机的作业效率。
图8为本申请另一实施例提供的无人机的喷洒航线规划方法的流程图，如图8所示，本实施例的方法可以包括：
S801、确定用户规划的作业区域。
S802、确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域。
本实施例中，S801和S802的具体实现过程可以参见图3所示实施例中的相关描述，此处不再赘述。
S803、确定障碍物区域的尺寸是否大于或等于预设尺寸阈值。若是时，则执行S804。
本实施例中，在确定出作业区域中的障碍物区域后，确定障碍物区域的尺寸，并判断障碍物区域的尺寸是否大于或等于预设尺寸阈值。若是时，表示障碍物区域的尺寸比较大，如果采用现有技术中环绕障碍物区域飞行的方式来规避障碍物区域，会使无人机多次重复环绕障碍物区域，影响无人机的作业效率。因此，本申请实施例在确定障碍物区域的尺寸大于或等于预设尺寸阈值时，通过将作业区域中的飞行区域分块的方式来分别规划航线，具体参见如下S804-S807。
可选的，上述S803可以包括如下几种可能的实现方式：
在一种可能的实现方式中，在执行S803之前还获取作业区域的数字地图或者语义地图，具体过程可以参见上述实施例中的相关描述，此处不再赘述。相应地，S803可以包括：确定障碍物区域在数字地图或语义地图中的像素数量，并确定该像素数量是否大于或等于预设的像素数量阈值。如果该像素数量大于或等于预设的像素数量阈值，说明障碍物区域在上述地图中占用的图像区域较多，则确定障碍物区域的尺寸大于或等于预设尺寸阈值。如果该像素数量小于预设的像素数量阈值，说明障碍物区域在上述地图中占用的图像区域较少，则确定障碍物区域的尺寸小于预设尺寸阈值。
在另一种可能的实现方式中，在执行S803之前还获取作业区域的数字地图或者语义地图，具体过程可以参见上述实施例中的相关描述，此处不再赘述。相应地，S803可以包括：根据数字地图或者语义地图确定障碍物区域的周长，并确定该周长是否大于或等于预设的周长阈值。如果该周长大于或等于预设的周长阈值，则确定障碍物区域的尺寸大于或等于预设尺寸阈值。如果周长小于预设的周长阈值，则确定障碍物区域的尺寸小于预设尺寸阈值。
在另一种可能的实现方式中，在执行S803之前还根据障碍物区域规划飞行区域的喷洒航线，该喷洒航线规避障碍物区域，并且喷洒航线中包括多个子喷洒航线段。其中，根据障碍物区域规划飞行区域的喷洒航线的过程可以参见图8所示实施例中下述S808的相关描述，此处不再赘述。在获得喷洒航线后，从这多个子喷洒航线段中确定目标喷洒航线段，目标喷洒航线段为对障碍物区域进行规避的子喷洒航线段，比如图9中对障碍物区域进行规避的子喷洒航线段。然后判断该目标喷洒航线段中避障障碍物区域的避障航线段(比如图9中点ps到点pe在子喷洒航线段上的线段)的长度是 否大于或等于预设的长度阈值。如果目标喷洒航线段中避障所述障碍物区域的避障航线段的长度大于或等于预设的长度阈值，确定障碍物区域的尺寸大于或等于预设尺寸阈值。如果目标喷洒航线段中避障障碍物区域的避障航线段的长度小于预设的长度阈值，则确定障碍物区域的尺寸小于预设尺寸阈值。其中，预设的长度阈值是根据避障航线段的起点和终点之间的直线距离确定的。
参见图9所示，设定绕行障碍物区域的起点为ps和终点为pe，根据起点ps和终点pe确定起点ps至终点pe的直线距离长度为L0，从起点ps绕行到终点pe的长度为L1。判断L1是否小于L0与预设值之积，该预设值例如为2，当L1＜2*L0，则可以确定障碍物区域的尺寸小于预设尺寸阈值，当L1≥2*L0，则可以确定障碍物区域的尺寸大于等于预设尺寸阈值。
S804、根据障碍物区域将飞行区域划分成多个子飞行区域。
S805、为每一个子飞行区域规划无人机的喷洒子航线。
S806、确定多个子飞行区域的喷洒子航线之间的连接航线。
S807、根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。
本实施例中，S804-S807的具体实现过程可以参见图3所示实施例中的相关描述，此处不再赘述。
可选的，如果确定障碍物区域的尺寸小于预设尺寸阈值，则执行下述S808和S809。
S808、根据障碍物区域规划飞行区域的喷洒航线。
本实施例中，如果障碍物区域的尺寸小于预设尺寸阈值，说明障碍物区域的尺寸较小，可以采用环绕障碍物区域飞行的方式来规避障碍物区域。比如采用启发式避障搜索策略，根据障碍物区域规划飞行区域的喷洒航线，如图9所示。启发式避障搜索策略例如是利用A*、θ*等搜索算法。
S809、根据喷洒航线控制无人机对待喷洒区域进行喷洒。
在根据障碍物区域规划飞行区域的喷洒航线后，根据该喷洒航线控制无人机对飞行区域中的待喷洒区域进行喷洒，参考图9，无人机在根据该喷洒航线中绕行了该障碍物区域。
因此，本实施例提供的无人机的喷洒航线规划方法，通过根据障碍物区域的不同尺寸来决定采用不同的规避障碍物区域的策略，在障碍物区域的尺寸较大时，将飞行区域划分为多个子飞行区域，在各子飞行区域内分别规划喷洒航线，然后将各子飞行区域内的喷洒航线连接起来以形成最终的航线，避免每次绕行都需要绕过整个障碍物，提高无人机的作业效率，节省无人机的能量消耗。而在障碍物区域的尺寸较小时，根据障碍物区域来规划飞行区域的喷洒航线，使得无人机绕行该障碍物区域飞行，提高无人机的绕行效率。
下面针对作业区域中存在多个障碍物区域，对本申请的方案进行描述。图10为本申请另一实施例提供的无人机的喷洒航线规划方法的流程图，如图10所示，本实施例的方法可以包括：
S1001、确定用户规划的作业区域。
S1002、确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域。
本实施例中，S1001和S1002的实现过程可以参见上述各实施例中的相关描述， 此处不再赘述。
其中，本实施例中确定作业区域中的障碍物区域的数量为多个。
S1003、确定多个障碍物区域中每一个障碍物区域是否均大于或等于预设尺寸阈值。
其中，如何确定每一个障碍物区域是否大于或等于预设尺寸阈值可以参见上述实施例中的相关描述，此处不再赘述。
如果确定多个障碍物区域中每一个障碍物区域均大于或等于预设尺寸阈值，则执行下述S1004-S1005和S1008-S1009。其中，尺寸大于或等于预设尺寸阈值的障碍物区域可以称为第一目标障碍物区域，也就是判断多个障碍物区域中每一个障碍区域是否包括第一目标障碍物区域。
如果确定多个障碍物区域中部分障碍物区域大于或等于预设尺寸阈值，另一部障碍物区域小于预设尺寸阈值，则执行S1006-S1009。其中，尺寸小于预设尺寸阈值的障碍物区域可以称为第二目标障碍物区域。
如果确定多个障碍物区域中每一个障碍物区域均小于预设尺寸阈值，则执行S1010-S1011。
S1004、若每个障碍物区域中包括第一目标障碍物区域时，根据第一目标障碍物区域将飞行区域划分成多个子飞行区域。
本实施例中，如果每个障碍物区域均为第一目标障碍物区域，则根据这些第一目标障碍物区域将飞行区域划分成多个子飞行区域。其中，划分得到的每个子飞行区域与每个第一目标障碍物区域均不存在重叠的区域。
S1005、为每一个子飞行区域规划无人机的喷洒子航线。
本实施例中，为S1004中划分得到的每一个子飞行区域规划无人机的喷洒子航线。
S1006、若多个障碍物区域包括第一目标障碍物区域和第二目标障碍物区域，则根据第一目标障碍物区域，将组合区域划分为多个子飞行区域。
本实施例中，如果多个障碍物区域包括至少一个第一目标障碍物区域和至少一个第二目标障碍物区域，则将飞行区域和至少一个第二目标障碍物区域作为组合区域，根据第一目标障碍物区域，将该组合区域划分为多个子飞行区域。划分得到的多个子飞行区域中至少一个子飞行区域中包括第二目标障碍物区域。一个子飞行区域可能包括一个第二目标障碍物区域，也可能包括多个第二目标障碍物区域。
如图11所示，以两个障碍物区域为例，分别包括第一目标障碍物区域和第二目标障碍物区域，作业区域中除第一目标障碍物区域之外的区域称为组合区域，根据第一目标障碍物区域，将组合区域划分为子飞行区域1至子飞行区域6，其中，子飞行区域6中包含有第二目标障碍物区域。
S1007、为每一个子飞行区域规划无人机的喷洒子航线。其中，包括第二目标障碍物区域的子飞行区域的喷洒子航线是根据第二目标障碍物区域来规划的，且规避第二目标障碍物区域。
本实施例中，以多个子飞行区域中N个子飞行区域包括有第一目标障碍物区域，M个子飞行区域包括有第二目标障碍物区域，N为大于等于1的整数，M为大于等于1的整数。
为N个子飞行区域中每个子飞行区域规划无人机的喷洒子航线的实现过程可以参 见图3所示实施例中S304中的相关描述，此处不再赘述。
为M个子飞行区域中每个子飞行区域规划无人机的喷洒子航线的实现过程可以参见图8中S808中的相关描述，此处不再赘述。
参见图12所示，子飞行区域1中包括有第二目标障碍物区域，因此子飞行区域1中的喷洒子航线规避了第二目标障碍物区域。
S1008、确定多个子飞行区域的喷洒子航线之间的连接航线。
S1009、根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。
本实施例中，S1008和S1009的实现过程可以参见图3所示实施例中S305和S306的相关描述，此处不再赘述。
S1010、若多个障碍物区域为多个第二目标障碍物区域，根据多个第二目标障碍物区域规划飞行区域的喷洒航线。
本实施例中，如果每个障碍物区域均为第二目标障碍物区域，则根据这些第二目标障碍物区域规划飞行区域的喷洒航线。如何根据第二目标障碍物区域规划飞行区域的喷洒航线可以参见图8所示实施例中S808中的相关描述，此处不再赘述。
其中，本实施例中规划得到的喷洒航线绕行每个第二目标障碍物区域。
S1011、根据喷洒航线控制无人机对待喷洒区域进行喷洒。
本实施例中，S1011的实现过程可以参见图8所示实施例中S809中的相关描述，此处不再赘述。
本实施例中，通过判断多个障碍物区域中每个障碍物区域的尺寸，以分别确定每个障碍物区域属于第一目标障碍物区域还是第二目标障碍物区域，根据确定的不同结果，采用相对应的策略来规划航线。保障无人机绕行障碍物区域的效率，提高无人机的作业效率，节省无人机的能耗。
在一些实施例中，本申请上述各实施例的方案适用于凹形区域的航线规划，比如被小山坡、水塘、村庄等分割为特殊的凹形几何区域。如图13所示，作业区域或飞行区域为一凹形区域，其中，凹进去的区域是无规划区域，也无需进行喷洒，因此，可以将这凹进去的区域作为障碍物区域，对飞行区域进行划分，比如划分为子飞行区域1至子飞行区域3。然后分别在各子飞行区域内规划喷洒子航线，确定多个子飞行区域的喷洒子航线之间的连接航线；根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。而现有技术中针对凹形区域，在规划航线是会穿越凹进去的区域，使得无人机飞出飞行区域，带来安全风险。而本申请的方案解决了这一问题，规划的航线不仅能覆盖飞行区域也同时避免了穿越凹进去且无需规划的这部分区域，提高了无人机的作业效率。
本申请实施例中还提供了一种计算机存储介质，该计算机存储介质中存储有程序指令，所述程序执行时可包括如上述任一实施例中的无人机的喷洒航线规划方法的部分或全部步骤。
图14为本申请一实施例提供的无人机的喷洒航线规划设备的结构示意图，如图14所示，本实施例的无人机的喷洒航线规划设备1400包括：存储器1401和处理器1402。存储器1401和处理器1402可以通过通信总线连接。处理器1402还可以通过通信总线与通信装置连接，通信装置用于与外部设备通信。
存储器1401用于存储程序指令。
处理器1402用于调用存储器1401中的程序指令执行：
确定用户规划的作业区域；
确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域；
根据障碍物区域将飞行区域划分成多个子飞行区域；
为每一个子飞行区域规划无人机的喷洒子航线；
确定多个子飞行区域的喷洒子航线之间的连接航线；
根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。
可选的，子飞行区域为凸形区域。
可选的，待喷洒区域包括农田区域。
可选的，飞行区域包括水面区域，其中，无人机在水面区域上方飞行时，无人机不执行喷洒操作。
可选的，障碍物区域的数量为多个。处理器1402在根据障碍物区域将飞行区域划分成多个子飞行区域时，具体用于：根据多个障碍物区域将飞行区域划分成多个子飞行区域。
可选的，处理器1402，还用于确定障碍物区域的尺寸是否大于或等于预设尺寸阈值。相应地，处理器1402在根据障碍物区域将飞行区域划分成多个子飞行区域时，具体用于：若是时，根据障碍物区域将飞行区域划分成多个子飞行区域。
可选的，处理器1402，还用于：若否时，根据障碍物区域规划飞行区域的喷洒航线，其中，喷洒航线规避所述障碍物区域；以及根据喷洒航线控制无人机对待喷洒区域进行喷洒。
可选的，障碍物区域的数量为多个。处理器1402在确定障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：确定多个障碍物区域中每一个障碍物区域是否大于或等于预设尺寸阈值；
处理器1402在若是时，根据障碍物区域将飞行区域划分成多个子飞行区域，具体用于：若每个障碍物区域中包括第一目标障碍物区域时，根据第一目标障碍物区域将飞行区域划分成多个子飞行区域，其中，第一目标障碍物区域为尺寸大于或等于预设尺寸阈值的障碍物区域。
可选的，处理器1402，还用于：若多个障碍物区域包括第一目标障碍物区域和第二目标障碍物区域，则根据第一目标障碍物区域，将组合区域划分为多个子飞行区域，其中，组合区域包括所述飞行区域和所述第二目标障碍物区域，多个子飞行区域中至少一个子飞行区域包括所述第二目标障碍物区域，第二目标障碍物区域是多个障碍物区域中尺寸小于预设尺寸阈值的障碍物区域；为每一个子飞行区域规划无人机的喷洒子航线，其中，包括第二目标障碍物区域的子飞行区域的喷洒子航线是根据第二目标障碍物区域来规划的，且规避第二目标障碍物区域；确定多个子飞行区域的喷洒子航线之间的连接航线；根据所述喷洒子航线和所述连接航线控制无人机对所述待喷洒区域进行喷洒。
可选的，处理器1402，还用于：若多个障碍物区域为多个第二目标障碍物区域，根据多个第二目标障碍物区域规划飞行区域的喷洒航线，其中，喷洒航线规避多个第 二目标障碍物区域，第二目标障碍物区域是多个障碍物区域中尺寸小于预设尺寸阈值的障碍物区域；以及根据所述喷洒航线控制无人机对所述待喷洒区域进行喷洒。
可选的，处理器1402，还用于获取作业区域的数字地图或者语义地图。相应地，处理器1402在确定障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：确定障碍物区域在数字地图或者语义地图中的像素数量，若像素数量大于或等于预设的像素数量阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值；或者，根据数字地图或者语义地图确定障碍物区域的周长，若周长大于或等于预设的周长阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值。
可选的，处理器1402，还用于：根据障碍物区域规划飞行区域的喷洒航线，其中，喷洒航线规避障碍物区域，喷洒航线包括多个子喷洒航线段。相应地，处理器1402在确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：从多个子喷洒航线段中确定目标喷洒航线段，其中，目标喷洒航线段为对障碍物区域进行规避的子喷洒航线段；以及若目标喷洒航线段中避障障碍物区域的避障航线段的长度大于或等于预设的长度阈值，确定障碍物区域的尺寸大于或等于预设尺寸阈值，其中，长度阈值是根据避障航线段的起点和终点之间的直线距离确定的。
可选的，无人机的喷洒航线规划设备1400还包括：显示装置1403和交互装置1404。处理器1402可以通过通信总线与显示装置1403和交互装置1404连接。在一种可能的实现方式，显示装置1403和交互装置1404统称为触摸显示屏。
处理器1402，还用于：获取测绘无人机在目标区域上空拍摄的图像；根据图像生成目标区域的数字地图；在显示装置1403上显示目标区域的数字地图。相应地，处理器1402在确定用户规划的作业区域时，具体用于包括：通过交互装置1404检测用户对显示数字地图的作业区域设置操作，根据检测到的操作确定用户规划的作业区域。
可选的，处理器1402，在确定作业区域中的障碍物区域和飞行区域时，具体用于：获取测绘无人机在作业区域上空拍摄的图像；根据图像确定作业区域中的障碍物区域和飞行区域。
可选的，处理器1402，在根据所述图像确定作业区域中的障碍物区域和飞行区域时，具体用于：根据图像生成作业区域的语义地图；利用语义地图确定作业区域中的障碍物区域和飞行区域。
本实施例的无人机的喷洒航线规划设备，可以用于执行本申请上述各方法实施例中的技术方案，其实现原理和技术效果类似，此处不再赘述。
图15为本申请一实施例提供的控制终端的结构示意图，如图15所示，本实施例的控制终端1500包括：存储器1501和处理器1502。存储器1501和处理器1502可以通过通信总线连接。处理器1502还可以通过通信总线与通信装置连接，通信装置用于与外部设备通信。
存储器1501用于存储程序指令。
处理器1502用于调用存储器1501中的程序指令执行：
确定用户规划的作业区域；
确定作业区域中的障碍物区域和飞行区域，飞行区域包括待喷洒区域；
根据障碍物区域将飞行区域划分成多个子飞行区域；
为每一个子飞行区域规划无人机的喷洒子航线；
确定多个子飞行区域的喷洒子航线之间的连接航线；
根据喷洒子航线和连接航线控制无人机对待喷洒区域进行喷洒。
可选的，子飞行区域为凸形区域。
可选的，待喷洒区域包括农田区域。
可选的，飞行区域包括水面区域，其中，无人机在水面区域上方飞行时，无人机不执行喷洒操作。
可选的，障碍物区域的数量为多个。处理器1502在根据障碍物区域将飞行区域划分成多个子飞行区域时，具体用于：根据多个障碍物区域将飞行区域划分成多个子飞行区域。
可选的，处理器1502，还用于确定障碍物区域的尺寸是否大于或等于预设尺寸阈值。相应地，处理器1502在根据障碍物区域将飞行区域划分成多个子飞行区域时，具体用于：若是时，根据障碍物区域将飞行区域划分成多个子飞行区域。
可选的，处理器1502，还用于：若否时，根据障碍物区域规划飞行区域的喷洒航线，其中，喷洒航线规避所述障碍物区域；以及根据喷洒航线控制无人机对待喷洒区域进行喷洒。
可选的，障碍物区域的数量为多个。处理器1402在确定障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：确定多个障碍物区域中每一个障碍物区域是否大于或等于预设尺寸阈值；
处理器1502在若是时，根据障碍物区域将飞行区域划分成多个子飞行区域，具体用于：若每个障碍物区域中包括第一目标障碍物区域时，根据第一目标障碍物区域将飞行区域划分成多个子飞行区域，其中，第一目标障碍物区域为尺寸大于或等于预设尺寸阈值的障碍物区域。
可选的，处理器1502，还用于：若多个障碍物区域包括第一目标障碍物区域和第二目标障碍物区域，则根据第一目标障碍物区域，将组合区域划分为多个子飞行区域；其中，组合区域包括所述飞行区域和所述第二目标障碍物区域，多个子飞行区域中至少一个子飞行区域包括所述第二目标障碍物区域，第二目标障碍物区域是多个障碍物区域中尺寸小于预设尺寸阈值的障碍物区域；为每一个子飞行区域规划无人机的喷洒子航线，其中，包括第二目标障碍物区域的子飞行区域的喷洒子航线是根据第二目标障碍物区域来规划的，且规避第二目标障碍物区域；确定多个子飞行区域的喷洒子航线之间的连接航线；根据所述喷洒子航线和所述连接航线控制无人机对所述待喷洒区域进行喷洒。
可选的，处理器1502，还用于：若多个障碍物区域为多个第二目标障碍物区域，根据多个第二目标障碍物区域规划飞行区域的喷洒航线，其中，喷洒航线规避多个第二目标障碍物区域，第二目标障碍物区域是多个障碍物区域中尺寸小于预设尺寸阈值的障碍物区域；以及根据所述喷洒航线控制无人机对所述待喷洒区域进行喷洒。
可选的，处理器1502，还用于获取作业区域的数字地图或者语义地图。相应地，处理器1502在确定障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：确定障碍物区域在数字地图或者语义地图中的像素数量，若像素数量大于或等于预设的 像素数量阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值；或者，根据数字地图或者语义地图确定障碍物区域的周长，若周长大于或等于预设的周长阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值。
可选的，处理器1502，还用于：根据障碍物区域规划飞行区域的喷洒航线，其中，喷洒航线规避障碍物区域，喷洒航线包括多个子喷洒航线段。相应地，处理器1402在确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：从多个子喷洒航线段中确定目标喷洒航线段，其中，目标喷洒航线段为对障碍物区域进行规避的子喷洒航线段；以及若目标喷洒航线段中避障障碍物区域的避障航线段的长度大于或等于预设的长度阈值，确定障碍物区域的尺寸大于或等于预设尺寸阈值，其中，长度阈值是根据避障航线段的起点和终点之间的直线距离确定的。
可选的，控制终端1500还包括：显示装置1503和交互装置1504。处理器1502可以通过通信总线与显示装置1503和交互装置1504连接。在一种可能的实现方式，显示装置1503和交互装置1504统称为触摸显示屏。
处理器1502，还用于：获取测绘无人机在目标区域上空拍摄的图像；根据图像生成目标区域的数字地图；在显示装置1503上显示目标区域的数字地图。相应地，处理器1402在确定用户规划的作业区域时，具体用于包括：通过交互装置1504检测用户对显示数字地图的作业区域设置操作，根据检测到的操作确定用户规划的作业区域。
可选的，处理器1502，在确定作业区域中的障碍物区域和飞行区域时，具体用于：获取测绘无人机在作业区域上空拍摄的图像；根据图像确定作业区域中的障碍物区域和飞行区域。
可选的，处理器1502，在根据所述图像确定作业区域中的障碍物区域和飞行区域时，具体用于：根据图像生成作业区域的语义地图；利用语义地图确定作业区域中的障碍物区域和飞行区域。
本实施例的控制终端，可以用于执行本申请上述各方法实施例中的技术方案，其实现原理和技术效果类似，此处不再赘述。
本申请一实施例还提供一种无人机，无人机包括无人机的喷洒航线规划设备。其中，无人机的喷洒航线规划设备可以采用图14所示实施例的结构，其对应地，可以执行上述各方法实施例中的技术方案，其实现原理和技术效果类似，此处不再赘述。
图16为本申请一实施例提供的无人机的喷洒航线规划系统的示意图，如图16所示，本实施例以无人机为喷洒无人机为例，本实施例的无人机的喷洒航线规划系统1600包括：喷洒无人机1601和控制终端1602。
其中，喷洒无人机1601包括无人机的喷洒航线规划设备。或者，控制终端1602包括无人机的喷洒航线规划设备。或者，喷洒无人机1601包括无人机的喷洒航线规划设备的部分装置，控制终端1602包括无人机的喷洒航线规划设备的另一部分装置。
无人机的喷洒航线规划设备可以采用图14所示实施例的结构，其对应地，可以执行上述各方法实施例中的技术方案，其实现原理和技术效果类似，此处不再赘述。
可选的，本实施例的无人机的喷洒航线规划系统1600还可以包括：测绘无人机1603。测绘无人机1603用于拍摄上述方案中涉及的图像。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过 程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：只读内存(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (32)

  1. 一种无人机的喷洒航线规划方法，其特征在于，包括：
    确定用户规划的作业区域；
    确定所述作业区域中的障碍物区域和飞行区域，所述飞行区域包括待喷洒区域；
    根据所述障碍物区域将所述飞行区域划分成多个子飞行区域；
    为每一个子飞行区域规划无人机的喷洒子航线；
    确定所述多个子飞行区域的喷洒子航线之间的连接航线；
    根据所述喷洒子航线和所述连接航线控制无人机对所述待喷洒区域进行喷洒。
  2. 根据权利要求1所述的方法，其特征在于，所述子飞行区域为凸形区域。
  3. 根据权利要求1或2所述的方法，其特征在于，所述待喷洒区域包括农田区域。
  4. 根据权利要求3所述的方法，其特征在于，所述飞行区域包括水面区域，其中，无人机在所述水面区域上方飞行时，无人机不执行喷洒操作。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述障碍物区域的数量为多个；
    所述根据所述障碍物区域将所述飞行区域划分成多个子飞行区域，包括：
    根据所述多个障碍物区域将所述飞行区域划分成多个子飞行区域。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值；
    所述根据所述障碍物区域将所述飞行区域划分成多个子飞行区域，包括：
    若是时，根据所述障碍物区域将所述飞行区域划分成多个子飞行区域。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    若否时，根据所述障碍物区域规划飞行区域的喷洒航线，其中，所述喷洒航线规避所述障碍物区域；
    根据所述喷洒航线控制无人机对所述待喷洒区域进行喷洒。
  8. 根据权利要求6或7所述的方法，其特征在于，所述障碍物区域的数量为多个；
    所述确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值，包括：
    确定所述多个所述障碍物区域中每一个障碍物区域是否大于或等于预设尺寸阈值；
    所述若是时，根据所述障碍物区域将所述飞行区域划分成多个子飞行区域，包括：
    若每个所述障碍物区域中包括第一目标障碍物区域时，根据所述第一目标障碍物区域将所述飞行区域划分成多个子飞行区域，其中，所述第一目标障碍物区域为尺寸大于或等于所述预设尺寸阈值的障碍物区域。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    若所述多个障碍物区域包括第一目标障碍物区域和第二目标障碍物区域，则根据第一目标障碍物区域，将组合区域划分为多个子飞行区域，其中，所述组合区域包括所述飞行区域和所述第二目标障碍物区域，所述多个子飞行区域中至少一个子飞行区域包括所述第二目标障碍物区域，所述第二目标障碍物区域是所述多个障碍物区域中尺寸小于所述预设尺寸阈值的障碍物区域；
    为每一个子飞行区域规划无人机的喷洒子航线，其中，包括第二目标障碍物区域的子飞行区域的喷洒子航线是根据所述第二目标障碍物区域来规划的，且规避所述第 二目标障碍物区域；
    确定所述多个子飞行区域的喷洒子航线之间的连接航线；
    根据所述喷洒子航线和所述连接航线控制无人机对所述待喷洒区域进行喷洒。
  10. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    若所述多个障碍物区域为多个第二目标障碍物区域，根据所述多个第二目标障碍物区域规划飞行区域的喷洒航线，其中，所述喷洒航线规避所述多个第二目标障碍物区域，所述第二目标障碍物区域是所述多个障碍物区域中尺寸小于所述预设尺寸阈值的障碍物区域；
    根据所述喷洒航线控制无人机对所述待喷洒区域进行喷洒。
  11. 根据权利要求6-10任一项所述的方法，其特征在于，所述方法还包括：
    获取所述作业区域的数字地图或者语义地图；
    所述确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值，包括：
    确定障碍物区域在所述数字地图或者语义地图中的像素数量，若所述像素数量大于或等于预设的像素数量阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值；或者，
    根据所述数字地图或者语义地图确定所述障碍物区域的周长，若所述周长大于或等于预设的周长阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值。
  12. 根据权利要求6-10任一项所述的方法，其特征在于，所述方法还包括：
    根据所述障碍物区域规划飞行区域的喷洒航线，其中，所述喷洒航线规避所述障碍物区域，所述喷洒航线包括多个子喷洒航线段；
    所述确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值，包括：
    从所述多个子喷洒航线段中确定目标喷洒航线段，其中，所述目标喷洒航线段为对障碍物区域进行规避的子喷洒航线段；
    若目标喷洒航线段中避障所述障碍物区域的避障航线段的长度大于或等于预设的长度阈值，确定障碍物区域的尺寸大于或等于预设尺寸阈值，其中，所述长度阈值是根据避障航线段的起点和终点之间的直线距离确定的。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述方法还包括：
    获取测绘无人机在目标区域上空拍摄的图像；
    根据所述图像生成所述目标区域的数字地图；
    在显示装置上显示所述目标区域的数字地图；
    所述确定用户规划的作业区域，包括：
    检测用户对显示所述数字地图的作业区域设置操作，根据所述检测到的操作确定用户规划的作业区域。
  14. 根据权利要求1-13任一项所述的方法，其特征在于，
    所述确定所述作业区域中的障碍物区域和飞行区域，包括：
    获取测绘无人机在作业区域上空拍摄的图像；
    根据所述图像确定所述作业区域中的障碍物区域和飞行区域。
  15. 根据权利要求14所述的方法，其特征在于，所述根据所述图像确定所述作业区域中的障碍物区域和飞行区域，包括：
    根据所述图像生成所述作业区域的语义地图；
    利用所述语义地图确定所述作业区域中的障碍物区域和飞行区域。
  16. 一种无人机的喷洒航线规划设备，其特征在于，包括：存储器和处理器；
    所述存储器，用于存储程序指令；
    所述处理器，用于调用所述存储器中的程序指令执行：
    确定用户规划的作业区域；
    确定所述作业区域中的障碍物区域和飞行区域，所述飞行区域包括待喷洒区域；
    根据所述障碍物区域将所述飞行区域划分成多个子飞行区域；
    为每一个子飞行区域规划无人机的喷洒子航线；
    确定所述多个子飞行区域的喷洒子航线之间的连接航线；
    根据所述喷洒子航线和所述连接航线控制无人机对所述待喷洒区域进行喷洒。
  17. 根据权利要求16所述的设备，其特征在于，所述子飞行区域为凸形区域。
  18. 根据权利要求16或17所述的设备，其特征在于，所述待喷洒区域包括农田区域。
  19. 根据权利要求18所述的设备，其特征在于，所述飞行区域包括水面区域，其中，无人机在所述水面区域上方飞行时，无人机不执行喷洒操作。
  20. 根据权利要求16-19任一项所述的设备，其特征在于，所述障碍物区域的数量为多个；
    所述处理器在根据所述障碍物区域将所述飞行区域划分成多个子飞行区域时，具体用于：根据所述多个障碍物区域将所述飞行区域划分成多个子飞行区域。
  21. 根据权利要求16-20任一项所述的设备，其特征在于，所述处理器，还用于确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值；
    所述处理器在根据所述障碍物区域将所述飞行区域划分成多个子飞行区域时，具体用于：若是时，根据所述障碍物区域将所述飞行区域划分成多个子飞行区域。
  22. 根据权利要求21所述的设备，其特征在于，所述处理器，还用于：
    若否时，根据所述障碍物区域规划飞行区域的喷洒航线，其中，所述喷洒航线规避所述障碍物区域；
    根据所述喷洒航线控制无人机对所述待喷洒区域进行喷洒。
  23. 根据权利要求21或22所述的设备，其特征在于，所述障碍物区域的数量为多个；
    所述处理器在确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：
    确定所述多个所述障碍物区域中每一个障碍物区域是否大于或等于预设尺寸阈值；
    所述若是时，根据所述障碍物区域将所述飞行区域划分成多个子飞行区域，包括：
    若每个所述障碍物区域中包括第一目标障碍物区域时，根据所述第一目标障碍物区域将所述飞行区域划分成多个子飞行区域，其中，所述第一目标障碍物区域为尺寸大于或等于所述预设尺寸阈值的障碍物区域。
  24. 根据权利要求23所述的设备，其特征在于，所述处理器，还用于：
    若所述多个障碍物区域包括第一目标障碍物区域和第二目标障碍物区域，则根据 第一目标障碍物区域，将组合区域划分为多个子飞行区域，其中，所述组合区域包括所述飞行区域和所述第二目标障碍物区域，所述多个子飞行区域中至少一个子飞行区域包括所述第二目标障碍物区域，所述第二目标障碍物区域是所述多个障碍物区域中尺寸小于所述预设尺寸阈值的障碍物区域；
    为每一个子飞行区域规划无人机的喷洒子航线，其中，包括第二目标障碍物区域的子飞行区域的喷洒子航线是根据所述第二目标障碍物区域来规划的，且规避所述第二目标障碍物区域；
    确定所述多个子飞行区域的喷洒子航线之间的连接航线；
    根据所述喷洒子航线和所述连接航线控制无人机对所述待喷洒区域进行喷洒。
  25. 根据权利要求23所述的设备，其特征在于，所述处理器，还用于：
    若所述多个障碍物区域为多个第二目标障碍物区域，根据所述多个第二目标障碍物区域规划飞行区域的喷洒航线，其中，所述喷洒航线规避所述多个第二目标障碍物区域，所述第二目标障碍物区域是所述多个障碍物区域中尺寸小于所述预设尺寸阈值的障碍物区域；
    根据所述喷洒航线控制无人机对所述待喷洒区域进行喷洒。
  26. 根据权利要求21-25任一项所述的设备，其特征在于，所述处理器，还用于获取所述作业区域的数字地图或者语义地图；
    所述处理器在确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：
    确定障碍物区域在所述数字地图或者语义地图中的像素数量，若所述像素数量大于或等于预设的像素数量阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值；或者，
    根据所述数字地图或者语义地图确定所述障碍物区域的周长，若所述周长大于或等于预设的周长阈值时，确定障碍物区域的尺寸大于或等于预设尺寸阈值。
  27. 根据权利要求21-26任一项所述的设备，其特征在于，所述处理器，还用于：
    根据所述障碍物区域规划飞行区域的喷洒航线，其中，所述喷洒航线规避所述障碍物区域，所述喷洒航线包括多个子喷洒航线段；
    所述处理器在确定所述障碍物区域的尺寸是否大于或等于预设尺寸阈值时，具体用于：
    从所述多个子喷洒航线段中确定目标喷洒航线段，其中，所述目标喷洒航线段为对障碍物区域进行规避的子喷洒航线段；
    若目标喷洒航线段中避障所述障碍物区域的避障航线段的长度大于或等于预设的长度阈值，确定障碍物区域的尺寸大于或等于预设尺寸阈值，其中，所述长度阈值是根据避障航线段的起点和终点之间的直线距离确定的。
  28. 根据权利要求16-27任一项所述的设备，其特征在于，还包括：显示装置和交互装置；
    所述处理器，还用于：
    获取测绘无人机在目标区域上空拍摄的图像；
    根据所述图像生成所述目标区域的数字地图；
    在所述显示装置上显示所述目标区域的数字地图；
    所述处理器在确定用户规划的作业区域时，具体用于包括：
    通过所述交互装置检测用户对显示所述数字地图的作业区域设置操作，根据所述检测到的操作确定用户规划的作业区域。
  29. 根据权利要求16-28任一项所述的设备，其特征在于，所述处理器，在确定所述作业区域中的障碍物区域和飞行区域时，具体用于：
    获取测绘无人机在作业区域上空拍摄的图像；
    根据所述图像确定所述作业区域中的障碍物区域和飞行区域。
  30. 根据权利要求29所述的设备，其特征在于，所述处理器，在根据所述图像确定所述作业区域中的障碍物区域和飞行区域时，具体用于：
    根据所述图像生成所述作业区域的语义地图；
    利用所述语义地图确定所述作业区域中的障碍物区域和飞行区域。
  31. 一种控制终端，其特征在于，包括如权利要求16-30任一项所述的无人机的喷洒航线规划设备。
  32. 一种计算机可读存储介质，其特征在于，包括指令，当所述指令在计算机上运行时，使得所述计算机执行如权利要求1-15任一项所述的无人机的喷洒航线规划方法。
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