WO2022241680A1 - 作业区域的划分方法、装置及存储介质 - Google Patents

作业区域的划分方法、装置及存储介质 Download PDF

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Publication number
WO2022241680A1
WO2022241680A1 PCT/CN2021/094678 CN2021094678W WO2022241680A1 WO 2022241680 A1 WO2022241680 A1 WO 2022241680A1 CN 2021094678 W CN2021094678 W CN 2021094678W WO 2022241680 A1 WO2022241680 A1 WO 2022241680A1
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area
sub
regions
target plane
base points
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PCT/CN2021/094678
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English (en)
French (fr)
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吴伟佳
邹亭
宋春林
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2021/094678 priority Critical patent/WO2022241680A1/zh
Publication of WO2022241680A1 publication Critical patent/WO2022241680A1/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 area segmentation, and in particular to a method, device and storage medium for dividing an operating area.
  • the related technology is to first construct a large-area grid graphic, and then use the grid graphic to cut a large-area field to obtain each smaller sub-area, and then perform a partial sub-area segmentation based on the adjacent geometric relationship. Stitching and combining, finally get the working sub-area of each UAV.
  • this method may produce slender or small areas in the segmented area of the boundary, which is not conducive to the UAV's block operation and affects the work efficiency of the UAV.
  • the present application provides a method, device and storage medium for dividing a work area.
  • the present application provides a method for dividing the work area, including:
  • the target plane area is divided according to the divided sub-areas.
  • the present application provides a device for dividing a working area, the device comprising: a memory and a processor;
  • the memory is used to store computer programs
  • the processor is configured to execute the computer program and when executing the computer program, implement the following steps:
  • the target plane area is divided according to the divided sub-areas.
  • the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the division of the work area as described above method.
  • the embodiment of the present application provides a method, device, and storage medium for dividing a work area, which acquires a target plane area that has the same shape as the work area and represents the work area; and acquires multiple targets distributed in the target plane area base point; based on a plurality of target base points distributed in the target plane area, the target plane area is segmented so that each segmented sub-area obtained after segmentation includes a target base point; according to the segmented sub-area, the The target plane area is divided. Since the shape of the target plane area is the same as that of the operation area and represents the operation area, each segmented sub-area obtained by segmenting the target plane area based on multiple target base points distributed in the target plane area includes a target base point.
  • the slender or small areas in the rasterization method should not appear as much as possible.
  • the segmented sub-areas obtained after segmentation in the embodiment of the present application are as narrow as possible. For uniformity, it is convenient for follow-up drones and other operating tools to carry out block operations, which will also improve work efficiency.
  • Fig. 1 is a schematic diagram of an embodiment of dividing a large area of farmland in a grid format in the related art
  • Fig. 2 is a schematic flow chart of an embodiment of the method for dividing the working area of the present application
  • Fig. 3 is a schematic diagram of an embodiment of dividing sub-areas in the method for dividing the working area of the present application
  • Fig. 4 is a schematic diagram of another embodiment of dividing sub-areas in the division method of the working area of the present application.
  • Fig. 5 is a schematic flow chart of another embodiment of the method for dividing the working area of the present application.
  • Fig. 6 is a schematic diagram of the principles of the Voronoi diagram algorithm in the division method of the operation area of the present application.
  • Fig. 7 is a schematic diagram of the division of an embodiment of the target plane area in the division method of the operation area of the present application.
  • Fig. 8 is a schematic diagram of another embodiment of the division of the target plane area in the division method of the operation area of the present application.
  • Fig. 9 is a schematic diagram of division of another embodiment of the target plane area in the division method of the operation area of the present application.
  • 10 to 14 are schematic diagrams of an embodiment of the division process in the division method of the application area
  • 15 to 18 are schematic diagrams of an embodiment of merging and splitting in the division method of the application area
  • Fig. 19 is a structural schematic diagram of an embodiment of the device for dividing the working area of the present application.
  • the related technology is to first construct a large-area grid graphic, and then use the grid graphic to cut a large-area field to obtain each smaller sub-area, and then splicing each divided sub-area according to the adjacent geometric relationship Combined, the sub-areas where each UAV can work are finally obtained.
  • this method may produce slender or small areas in the segmented area of the boundary, see the oval circled part in Figure 1, such slender or small areas are not conducive to the UAV's block operation, Affect the work efficiency of drones.
  • the embodiment of the present application provides a method, device, and storage medium for dividing a work area, which acquires a target plane area that has the same shape as the work area and represents the work area; and acquires multiple targets distributed in the target plane area base point; based on a plurality of target base points distributed in the target plane area, the target plane area is segmented so that each segmented sub-area obtained after segmentation includes a target base point; according to the segmented sub-area, the The target plane area is divided. Since the shape of the target plane area is the same as that of the operation area and represents the operation area, each segmented sub-area obtained by segmenting the target plane area based on multiple target base points distributed in the target plane area includes a target base point.
  • the slender or small areas in the rasterization method should not appear as much as possible.
  • the segmented sub-areas obtained after segmentation in the embodiment of the present application are as narrow as possible. For uniformity, it is convenient for follow-up drones and other operating tools to carry out block operations, which will also improve work efficiency.
  • FIG. 2 is a schematic flowchart of an embodiment of a method for dividing work areas in the present application.
  • the method includes: step S101 , step S102 , step S103 and step S104 .
  • Step S101 Obtain a target plane area that has the same shape as the working area and represents the working area.
  • Step S102 Obtain a plurality of target base points distributed in the target plane area.
  • Step S103 Based on the multiple target base points distributed in the target plane area, segment the target plane area so that each segmented sub-area obtained after segmentation includes one target base point.
  • Step S104 Divide the target plane area according to the divided sub-areas.
  • the working area may refer to an area where working tools need to be used.
  • Operation areas include but are not limited to: farmland areas, hillside areas, forest areas, etc.
  • Working tools include, but are not limited to: drones, manned aircraft, various agricultural tools (such as agricultural tractors, agricultural rice transplanters, etc.), etc.
  • the working area is represented by a target plane area, which has the same shape as the working area. In practical applications, the shape of the working area is irregular in most cases.
  • the target base point may be distributed in the target plane area and used as a reference point for dividing the target plane area so that each segmented sub-area obtained after segmentation includes a target base point. That is, the number of divided sub-regions obtained after division is equal to the number of target base points.
  • the target base points can be arranged in order, for example, a grid-like arrangement method, a circular arrangement method, and so on.
  • each segmented sub-area obtained after segmenting the target plane area includes a target base point.
  • the division method of the operation area is the same as the division method of the target plane area.
  • the operation area is divided according to the division result of the target plane area. Or a small area, so that each divided sub-area is as uniform as possible.
  • the divided sub-regions can be directly used as divided sub-regions, and there are as many divided sub-regions as there are divided sub-regions. That is, the number of divided sub-regions after the division of the target plane region is the same as the number of the divided sub-regions, and the divided sub-regions correspond to the divided sub-regions.
  • the adjacent divided sub-regions can be merged into merged sub-regions, and the final divided sub-region includes both the unmerged divided sub-regions and the merged sub-region. That is, the number of divided sub-areas after the division of the target plane area is smaller than the number of the divided sub-areas, and more than two divided sub-areas are merged into merged sub-areas, and the divided sub-areas include the merged sub-areas and the merged sub-areas. Unmerged split subregions.
  • the division sub-region includes three: a triangle division sub-region and two square division sub-regions, and the division sub-region is also three, which are respectively three division sub-regions; referring to Fig. 4, two square division sub-regions
  • the area is merged into one merged sub-area, and there are two divided sub-areas, one merged sub-area and one unmerged triangle-divided sub-area.
  • the embodiment of the present application obtains a target plane area that has the same shape as the operation area and represents the operation area; acquires multiple target base points distributed in the target plane area; and obtains multiple target base points distributed in the target plane area , segmenting the target plane area so that each segmented sub-area obtained after segmentation includes a target base point; dividing the target plane area according to the segmented sub-areas. Since the shape of the target plane area is the same as that of the operation area and represents the operation area, each segmented sub-area obtained by segmenting the target plane area based on multiple target base points distributed in the target plane area includes a target base point. In the edge area of the target plane area, the slender or small areas in the rasterization method should not appear as much as possible.
  • the segmented sub-areas obtained after segmentation in the embodiment of the present application are as narrow as possible. For uniformity, it is convenient for follow-up drones and other operating tools to carry out block operations, which will also improve work efficiency.
  • step S102 The specific details of step S102 will be described in detail below.
  • step S102 the acquisition of multiple target base points distributed in the target plane area may include: sub-step S1021, sub-step S1022 and sub-step S1023 , as shown in Figure 5.
  • Sub-step S1021 Obtain a virtual area with a regular shape and covering the target plane area.
  • Sub-step S1022 uniformly arrange a plurality of virtual base points in the virtual area.
  • Sub-step S1023 taking the virtual base points falling within the target plane area as a plurality of target base points distributed in the target plane area.
  • the shape of the target plane area is irregular.
  • a virtual area with a regular shape and covering the target plane area is used for the arrangement.
  • the shape of the virtual area is regular, and it is relatively easy to evenly arrange the virtual base points, and then use the virtual base points falling in the target plane area as the target base point.
  • the shape of the virtual area may be square (eg, rectangle, square, regular polygon, etc.) or circle.
  • the number of virtual base points can be determined in a preset manner.
  • the number of the virtual base points is determined according to the preset area of the divided sub-regions of the virtual region. For example, if the preset area of the divided sub-areas of the virtual area is 10, and the area of the virtual area is 100, then the number of virtual base points can be 10 (100 divided by 10), and 10 virtual base points are evenly arranged in the virtual area.
  • the number of the virtual base points is determined according to a preset distance between the virtual base points. For example, if the preset spacing between virtual base points is 1m (both in the length direction and width direction are 1m), then the virtual base points can be arranged in the virtual area according to the interval of 1m until the arrangement is completed, and the final layout of the virtual base points can be obtained. number. For another example, if the preset spacing between virtual base points in the length direction is 2m, and the preset spacing in the width direction is 1m, then the virtual base points can be arranged in the virtual area at intervals of 2m in the length direction and 1m in the width direction until After the arrangement is completed, the number of the last arranged virtual base points can be obtained.
  • the uniformly arranging a plurality of virtual base points in the virtual area may include: uniformly arranging a plurality of virtual base points in the virtual area according to the received base point arrangement operation of the user.
  • sub-step S1022 the arranging operation of arranging multiple virtual base points uniformly in the virtual area according to the received user base point arrangement may further include: A plurality of virtual base points are evenly arranged in the virtual area at intervals in the length direction and the width direction.
  • the sub-step S1022, the arranging operation of uniformly arranging a plurality of virtual base points in the virtual area according to the received user base point arranging operation may further include: For the area of the divided sub-regions, a plurality of virtual base points are evenly arranged in the virtual region.
  • the virtual base point falling in the target plane area may not be in a good position, which may not be convenient for subsequent segmentation.
  • the virtual base point falling in the target plane area can be selectively determined as the target base point. That is to say, sub-step S1023, said using the virtual base points falling in the target plane area as a plurality of target base points distributed in the target plane area may also include: taking the virtual base points falling in the target plane area and satisfying The preset required virtual base point is used as a plurality of target base points distributed in the target plane area.
  • not all virtual base points falling within the target plane area are used as target base points, but only those virtual base points that meet preset requirements are used as target base points.
  • the virtual base point with a bad position can be eliminated, and the virtual base point with a better position can be left as the target base point to facilitate subsequent segmentation.
  • the preset requirement includes that the distance from the boundary of the target plane area is greater than or equal to a preset distance; and/or, it cannot fall on the boundary of the target plane area. If the virtual base point falling in the target plane area is too close to the boundary of the target plane area, the segmented sub-areas after segmentation are likely to be uneven; if the virtual base point falling in the target plane area falls on the boundary of the target plane area, The virtual base point cannot effectively segment the interior of the target plane area. Therefore, the virtual base points falling within the target plane area and whose distance from the boundary of the target plane area is greater than or equal to a preset distance are retained; the virtual base points falling within the target plane area and not on the boundary of the target plane area are reserved.
  • step S103 Details of step S103 will be described in detail below.
  • step S103, the segmenting the target plane area based on the multiple target base points distributed in the target plane area may include: based on the multiple target base points distributed in the target plane area , using the Voronoi diagram algorithm to segment the target plane area.
  • the Voronoi Diagram algorithm is an algorithm for segmenting regions in computational geometry; first, it is necessary to assume that there are several base points (sites) on the plane, and divide the plane points according to the distance from all points on the plane to these base points , all points with the shortest distance to the same base point form a point set, and the plane can be divided into different sub-regions (cells), as shown in Figure 6.
  • Mapping methods in the Voronoi Diagram algorithm include but are not limited to divide and conquer, incremental and scan line methods.
  • the Voronoi diagram algorithm is used to segment the target plane area, and the target plane area can be directly divided into multiple segmentation sub-areas.
  • the target plane area can be directly divided into multiple segmentation sub-areas.
  • the Voronoi diagram algorithm is used to segment the target plane area to obtain 6 segmented sub-areas.
  • the method further includes: acquiring a virtual area with a regular shape and covering the target plane area; at this time, step S103, based on the multiple target base points distributed in the target plane area,
  • the segmentation of the target plane area includes: based on a plurality of target base points distributed in the target plane area, using a Voronoi diagram algorithm to segment the virtual area.
  • FIG. 8 there are 6 target base points distributed in the target plane area, and the 6 target base points are arranged in a grid format.
  • the Voronoi diagram algorithm is used to segment the virtual area, and then according to the dividing line and the boundary of the target plane area, namely Six segmentation sub-regions can be obtained.
  • FIG. 9 there are 6 target base points distributed in the target plane area, and the 6 target base points are arranged at six vertices in a hexagonal format along the boundary of the target plane area. Six divided sub-regions can be obtained by dividing the line and the boundary of the target plane region.
  • the method also includes:
  • discontinuous dividing line in the target plane area there is a discontinuous dividing line in the target plane area among the dividing lines, that is to say, a part of the dividing line extends beyond the target plane area, resulting in discontinuity of the dividing line in the target plane area.
  • the discontinuity of the dividing line in the target plane area will result in dividing originally non-adjacent areas into one segmented sub-area, while originally adjacent areas are divided into different segmented sub-areas. Obviously this is unreasonable, so the discontinuous dividing line needs to be deleted. If there are more than two target base points in the deleted area, the area needs to be re-segmented so that each divided sub-area includes one target base point. If there is only one target base point in the deleted area, no further segmentation is required.
  • the target plane area is an irregular polygon, as shown in Fig. 10; 4 target base points A, B, C, D are arranged in the target plane area, as shown in Fig. 11;
  • the Voronoi diagram algorithm divides the virtual area, as shown in Figure 12; there is a discontinuous dividing line in the target plane area in the dividing line, as shown in Figure 13, a part of the discontinuous dividing line continues to the target plane area
  • the dotted line in Figure 13 resulting in the division of originally non-adjacent areas into one segmented sub-area, while originally adjacent areas are divided into different segmented sub-areas, see Figure 13 originally corresponding to the target base point D
  • Part of the area adjacent to the area of the target base point B is divided into the area corresponding to the target base point B, and this part of the area is not adjacent to the area corresponding to the target base point B; delete the discontinuous dividing line, and include two target base points B, C The deleted area is re-
  • the method further includes: displaying the target plane region and the segmented sub-regions within the target plane region on a display interface .
  • the method may further include: receiving a merge operation of the divided sub-regions input by the user. For example, the user can click the segmented sub-region to be merged, and then click the merge button; or display the number of the segmented sub-region, and the user can input the number of the segmented sub-region to be merged in the merge input box; and so on.
  • the dividing the target plane area according to the divided sub-areas may include: dividing the target plane area according to the divided sub-areas and the merging operation.
  • the division of the target plane area according to the segmented sub-area and the merging operation may also include :
  • segmented sub-regions to be merged are adjacent segmented sub-regions, merge the adjacent segmented sub-regions into one merged sub-region, and keep the segmented sub-regions that are not merged.
  • the method further includes: if the segmented sub-regions to be merged are not adjacent segmented sub-regions, not performing the merging operation, and retaining all the segmented sub-regions.
  • the determining whether the segmented sub-regions to be merged are adjacent segmented sub-regions may include:
  • segmented sub-region to be merged and another segmented sub-region to be merged share more than one vertex, it is determined that the two segmented sub-regions to be merged are adjacent segmented sub-regions;
  • the method may further include: receiving a split operation input by the user for the merged sub-region; The merged sub-region is split.
  • a double-layer linked list can be used to organize each segmentation sub-area, so that the merging and splitting of various complex segmentation sub-areas can be customized, which can meet the needs of later manual modification.
  • FIG. 19 is a schematic structural diagram of an embodiment of the device for dividing the working area of the present application. It should be noted that the device of this embodiment can perform the steps in the above-mentioned method for dividing the working area.
  • the relevant content please refer to Please refer to the relevant content of the method for dividing the operation area above, and details will not be repeated here.
  • the device 100 includes: a memory 1 and a processor 2; the processor 2 is connected to the memory 1 through a bus.
  • the processor 2 may be a micro control unit, a central processing unit or a digital signal processor, and so on.
  • the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk or a mobile hard disk, and the like.
  • the memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and when executing the computer program, implement the following steps:
  • the number of divided sub-regions after the division of the target plane region is the same as the number of the divided sub-regions, and the divided sub-regions correspond to the divided sub-regions.
  • the number of divided sub-areas after the division of the target plane area is smaller than the number of the divided sub-areas, and more than two divided sub-areas are merged into merged sub-areas, and the divided sub-areas include the merged sub-areas and unmerged split subregions.
  • the processor executes the computer program, the following steps are implemented: obtaining a virtual area with a regular shape and covering the target plane area; arranging a plurality of virtual base points uniformly in the virtual area; The virtual base point in the target plane area is used as a plurality of target base points distributed in the target plane area.
  • the number of the virtual base points is determined according to the preset area of the divided sub-regions of the virtual region.
  • the number of the virtual base points is determined according to a preset distance between the virtual base points.
  • the processor executes the computer program, the following step is implemented: according to the received base point arrangement operation of the user, a plurality of virtual base points are uniformly arranged in the virtual area.
  • the processor executes the computer program, the following steps are implemented: arranging a plurality of virtual base points evenly in the virtual area according to the distance between the virtual base points input by the user in the length direction and the width direction. .
  • the processor executes the computer program, the following step is implemented: uniformly arranging a plurality of virtual base points in the virtual area according to the area of the divided sub-area of the virtual area input by the received user.
  • the processor executes the computer program, the following steps are implemented: taking the virtual base points that fall within the target plane area and meet the preset requirements as a plurality of target base points distributed in the target plane area .
  • the preset requirement includes that the distance from the boundary of the target plane area is greater than or equal to the preset distance; and/or, it cannot fall on the boundary of the target plane area.
  • the processor executes the computer program, the following step is implemented: based on the multiple target base points distributed in the target plane area, the Voronoi diagram algorithm is used to segment the target plane area.
  • the processor executes the computer program, the following steps are implemented: obtaining a virtual area with a regular shape and covering the target plane area; A graph algorithm segments the virtual area.
  • the processor executes the computer program, the following steps are implemented: if there is a discontinuous dividing line in the target plane area among the dividing lines, then delete the discontinuous dividing line; The above deleted area of the target base point is re-divided based on the target base point in the deleted area.
  • the device further includes a display module, and when the processor executes the computer program, the following steps are implemented: controlling the display module to display the target plane area and the segmented elements in the target plane area on a display interface area.
  • the device further includes a receiving module, and when the processor executes the computer program, the following steps are implemented: controlling the receiving module to receive the merging operation of the divided sub-regions input by the user; according to the divided sub-regions and the The merging operation is performed to divide the target plane area.
  • the processor executes the computer program, the following steps are implemented: according to the merging operation, it is determined whether the segmented sub-regions to be merged are adjacent segmented sub-regions; if the segmented sub-regions to be merged are adjacent merge the adjacent segmented sub-areas into one merged sub-area, and keep the unmerged segmented sub-areas.
  • the processor executes the computer program, the following steps are implemented: if the segmented sub-regions to be merged are not adjacent segmented sub-regions, the merging operation is not performed, and all the segmented sub-regions are retained.
  • the processor executes the computer program, the following steps are implemented: if one segmented sub-region to be merged and another segmented sub-region to be merged share more than one vertex, then determine the two segments to be merged The sub-regions are adjacent segmented sub-regions; otherwise, it is determined that the two segmented sub-regions to be merged are not adjacent segmented sub-regions.
  • the shape of the virtual area is square or circular.
  • the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the division of the work area as described in any one of the above items method.
  • the relevant content please refer to the relevant content section above, and will not repeat it here.
  • the computer-readable storage medium may be an internal storage unit of the above device, such as a hard disk or a memory.
  • the computer-readable storage medium can also be an external storage device, such as a plug-in hard disk provided, a smart memory card, a secure digital card, a flash memory card, and the like.

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Abstract

一种作业区域的划分方法、装置及存储介质，该方法包括：获取与作业区域的形状相同、且代表所述作业区域的目标平面区域（S101）；获取所述目标平面区域内分布的多个目标基点（S102）；基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点（S103）；根据所述分割子区域对所述目标平面区域进行划分（S104）。

Description

作业区域的划分方法、装置及存储介质 技术领域
本申请涉及区域分割技术领域，尤其涉及一种作业区域的划分方法、装置及存储介质。
背景技术
在无人机的农业应用中，常常会因为农田面积过大无法由单架次的无人机完成作业，此时便需要由单架多次或者多架无人机同时进行作业。
相关技术是通过先构造大面积的栅格图形，再利用栅格图形对大面积田地进行切割，得到各个较小的子区域，再根据相邻的几何关系对各个切分出来的部分子区域进行拼接组合，最终得到各个无人机可工作的子区域。
但是，这种方法可能会在边界的切分区域出现细长或者细小的区域，不利于无人机进行分块作业影响无人机的工作效率。
发明内容
基于此，本申请提供一种作业区域的划分方法、装置及存储介质。
第一方面，本申请提供一种作业区域的划分方法，包括：
获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；
获取所述目标平面区域内分布的多个目标基点；
基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；
根据所述分割子区域对所述目标平面区域进行划分。
第二方面，本申请提供一种作业区域的划分装置，所述装置包括：存储器和处理器；
所述存储器用于存储计算机程序；
所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；
获取所述目标平面区域内分布的多个目标基点；
基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；
根据所述分割子区域对所述目标平面区域进行划分。
第三方面，本申请提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的作业区域的划分方法。
本申请实施例提供了一种作业区域的划分方法、装置及存储介质，获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；获取所述目标平面区域内分布的多个目标基点；基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；根据所述分割子区域对所述目标平面区域进行划分。由于目标平面区域的形状与作业区域相同，且代表作业区域，基于目标平面区域内分布的多个目标基点对目标平面区域进行分割后得到的每个分割子区域中包括一个目标基点，如此分割后在目标平面区域的边缘区域能够尽可能不出现栅格化方法中细长或者细小的区域，相对栅格化方法得到的子区域，本申请实施例中分割后得到的各个分割子区域尽可能更为均匀，便于后续无人机等作业工具进行分块作业，也会提高工作效率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以 根据这些附图获得其他的附图。
图1是相关技术中利用栅格式方式切分大面积农田一实施例的示意图；
图2是本申请作业区域的划分方法一实施例的流程示意图；
图3是本申请作业区域的划分方法中划分子区域一实施例的示意图；
图4是本申请作业区域的划分方法中划分子区域另一实施例的示意图；
图5是本申请作业区域的划分方法另一实施例的流程示意图；
图6是本申请作业区域的划分方法中维诺图算法的原理示意图；
图7是本申请作业区域的划分方法中目标平面区域一实施例的分割示意图；
图8是本申请作业区域的划分方法中目标平面区域另一实施例的分割示意图；
图9是本申请作业区域的划分方法中目标平面区域又一实施例的分割示意图；
图10至图14是本申请作业区域的划分方法中分割过程一实施例的示意图；
图15至图18是本申请作业区域的划分方法中合并与拆分一实施例的示意图；
图19是本申请作业区域的划分装置一实施例的结构示意图。
具体实施方式
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做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。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
在无人机的农业应用中，常常需要对大面积农田进行切分。相关技术是先构造大面积的栅格图形，再利用栅格图形对大面积田地进行切割，得到各个较 小的子区域，再根据相邻的几何关系对各个切分出来的部分子区域进行拼接组合，最终得到各个无人机可工作的子区域。但是，这种方法可能会在边界的切分区域出现细长或者细小的区域，参见图1中的椭圆形圈出部分，这种细长或者细小的区域不利于无人机进行分块作业，影响无人机的工作效率。
本申请实施例提供了一种作业区域的划分方法、装置及存储介质，获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；获取所述目标平面区域内分布的多个目标基点；基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；根据所述分割子区域对所述目标平面区域进行划分。由于目标平面区域的形状与作业区域相同，且代表作业区域，基于目标平面区域内分布的多个目标基点对目标平面区域进行分割后得到的每个分割子区域中包括一个目标基点，如此分割后在目标平面区域的边缘区域能够尽可能不出现栅格化方法中细长或者细小的区域，相对栅格化方法得到的子区域，本申请实施例中分割后得到的各个分割子区域尽可能更为均匀，便于后续无人机等作业工具进行分块作业，也会提高工作效率。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
参见图2，图2是本申请作业区域的划分方法一实施例的流程示意图，该方法包括：步骤S101、步骤S102、步骤S103以及步骤S104。
步骤S101：获取与作业区域的形状相同、且代表所述作业区域的目标平面区域。
步骤S102：获取所述目标平面区域内分布的多个目标基点。
步骤S103：基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点。
步骤S104：根据所述分割子区域对所述目标平面区域进行划分。
本申请实施例中，作业区域可以是指需要利用作业工具进行作业的区域。作业区域包括但不限于：农田区域、山坡区域、森林区域等。作业工具包括但不限于：无人机、有人作业飞机、各种农具(例如农业拖拉机、农业插秧机等等)等。作业区域通过目标平面区域来表示，目标平面区域的形状与作业区域 的形状相同。在实际应用中，作业区域的形状大多数情况下是不规则的形状。
目标基点可以是指分布在目标平面区域内、作为基准点用于分割目标平面区域使分割后得到的每个分割子区域中包括一个目标基点。即分割后得到的分割子区域的个数等于目标基点的个数。
获取所述目标平面区域内分布的多个目标基点的具体方式很多。例如：根据预先设定的要求获取所述目标平面区域内分布的多个目标基点，或者根据用户输入的要求获取所述目标平面区域内分布的多个目标基点，或者随机均匀分布的方式获取，等等。目标基点的个数可以根据目标平面区域的面积和分割子区域的面积来确定，或者根据目标基点之间的距离来确定，等等。为了分割子区域的规划效果整齐，可以使目标基点排布整齐，例如采用栅格式的排布方法，采用圆周的排布方法，等等。
基于多个目标基点，对目标平面区域进行分割后得到的每个分割子区域中包括一个目标基点。如此能够尽可能避免在目标平面区域的边缘区域出现细长或者细小的区域，使各个分割子区域尽可能更为均匀，再根据所述分割子区域对所述目标平面区域进行划分。很显然，作业区域的划分方式与目标平面区域的划分方法相同，作业区域根据目标平面区域的划分结果进行划分，划分后得到的划分子区域也能够尽可能避免在作业区域的边缘区域出现细长或者细小的区域，使各个划分子区域尽可能更为均匀。
其中，划分的时候，可以有两种情形：
一种是可以直接将分割子区域作为划分子区域，有多少个分割子区域则有多少个划分子区域。即所述目标平面区域划分后的划分子区域的数量与所述分割子区域的数量相同，所述分割子区域对应所述划分子区域。
另一种是可以将其中相邻的分割子区域合并为合并子区域，最后的划分子区域既包括没有合并的分割子区域，也包括合并子区域。即所述目标平面区域划分后的划分子区域的数量小于所述分割子区域的数量，两个以上的所述分割子区域合并为合并子区域，所述划分子区域包括所述合并子区域和未合并的分割子区域。
例如，参见图3，分割子区域包括三个：一个三角形分割子区域和两个方形分割子区域，划分子区域也是三个，分别为三个分割子区域；参见图4，两 个方形分割子区域合并为一个合并子区域，划分子区域是两个，分别为一个合并子区域和一个未合并的三角形分割子区域。
本申请实施例获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；获取所述目标平面区域内分布的多个目标基点；基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；根据所述分割子区域对所述目标平面区域进行划分。由于目标平面区域的形状与作业区域相同，且代表作业区域，基于目标平面区域内分布的多个目标基点对目标平面区域进行分割后得到的每个分割子区域中包括一个目标基点，如此分割后在目标平面区域的边缘区域能够尽可能不出现栅格化方法中细长或者细小的区域，相对栅格化方法得到的子区域，本申请实施例中分割后得到的各个分割子区域尽可能更为均匀，便于后续无人机等作业工具进行分块作业，也会提高工作效率。
下面详细说明步骤S102的具体细节内容。
在一实施例中，为了简单方便获取到均匀分布的目标基点，步骤S102，所述获取所述目标平面区域内分布的多个目标基点，可以包括：子步骤S1021、子步骤S1022以及子步骤S1023，如图5所示。
子步骤S1021：获取形状规则、且覆盖所述目标平面区域的虚拟区域。
子步骤S1022：在所述虚拟区域内均匀布置多个虚拟基点。
子步骤S1023：将落在所述目标平面区域内的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
多数情况下，目标平面区域的形状是不规则的形状，为了简单方便地在目标平面区域内均匀布置目标基点，利用形状规则、且覆盖所述目标平面区域的虚拟区域来进行布置。虚拟区域形状规则，比较容易均匀布置虚拟基点，然后再将落在目标平面区域内的虚拟基点作为目标基点。虚拟区域的形状可以是方形(例如长方形、正方形、规则的多边形，等等)或者圆形。
虚拟基点的个数可以通过预先设定的方式来确定。
其中，所述虚拟基点的个数是根据所述虚拟区域分割后的子区域的预设面积来确定的。例如，虚拟区域分割后的子区域的预设面积为10，虚拟区域的面积为100，那么虚拟基点的个数可以是10(100除以10)，在虚拟区域中均 匀布置10个虚拟基点。
其中，所述虚拟基点的个数是根据所述虚拟基点之间的预设间距来确定的。例如，虚拟基点之间的预设间距为1m(长度方向和宽度方向均为1m)，那么可以按照1m的间距在虚拟区域中布置虚拟基点，直到布置完毕，即可得到最后布置的虚拟基点的个数。又如，虚拟基点之间在长度方向的预设间距为2m，在宽度方向的预设间距为1m，那么可以按照长度方向间隔2m、宽度方向间隔1m的间距在虚拟区域中布置虚拟基点，直到布置完毕，即可得到最后布置的虚拟基点的个数。
为了满足用户需求，还可以根据用户输入的要求来布置虚拟基点。即子步骤S1022，所述在所述虚拟区域内均匀布置多个虚拟基点，可以包括：根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点。
在一实施例中，子步骤S1022，所述根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点，还可以包括：根据接收到的用户输入的虚拟基点之间在长度方向和宽度方向的间距，在所述虚拟区域内均匀布置多个虚拟基点。
在一实施例中，子步骤S1022，所述根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点，还可以包括：根据接收到的用户输入的所述虚拟区域分割后的子区域的面积，在所述虚拟区域内均匀布置多个虚拟基点。
落在目标平面区域内的虚拟基点有可能位置不太好，可能不太方便后续分割，此时可以有选择地确定落在目标平面区域内的虚拟基点作为目标基点。即子步骤S1023，所述将落在所述目标平面区域内的虚拟基点作为分布在所述目标平面区域内的多个目标基点，还可以包括：将落在所述目标平面区域内、且满足预设要求的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
本实施例中，并不是将落在目标平面区域内的所有虚拟基点均作为目标基点，而是将这些虚拟基点中满足预设要求的，才作为目标基点。如此，能够将位置不太好的虚拟基点剔除，留下位置较好的虚拟基点作为目标基点，以方便后续分割。
在一实施例中，所述预设要求包括与所述目标平面区域的边界的距离大于 或等于预设距离；和/或，不能落在所述目标平面区域的边界上。如果落在目标平面区域内的虚拟基点距离目标平面区域的边界太近，分割后的分割子区域容易不均匀；如果落在目标平面区域内的虚拟基点落在所述目标平面区域的边界上，该虚拟基点无法对目标平面区域内部进行有效分割。因此，保留落在目标平面区域内、与目标平面区域的边界的距离大于或等于预设距离的虚拟基点；保留落在目标平面区域内、且不在所述目标平面区域的边界上的虚拟基点。
下面详细说明步骤S103的细节内容。
在一实施例中，步骤S103，所述基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，可以包括：基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述目标平面区域进行分割。
维诺图(Voronoi Diagram)算法是计算几何学中一种对区域进行分割的算法；先需要假定平面上存在若干基点(site)，根据平面上所有的点到这些基点的距离对平面点进行划分，所有到同一个基点的距离最短的点构成一个点集，平面即可被分割成不同的子区域(cell)，如图6所示。维诺图(Voronoi Diagram)算法中建图的方法包括但不限于分治法、增量法和扫描线法。
本实施例中基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述目标平面区域进行分割，可以直接将目标平面区域分割出多个分割子区域。例如，参见图7，目标平面区域内分布有6个目标基点，6个目标基点按照栅格式排布，采用维诺图算法对目标平面区域进行分割，得到6个分割子区域。
在一实施例中，所述方法还包括：获取形状规则、且覆盖所述目标平面区域的虚拟区域；此时，步骤S103，所述基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，包括：基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述虚拟区域进行分割。
例如，参见图8，目标平面区域内分布有6个目标基点，6个目标基点按照栅格式排布，采用维诺图算法对虚拟区域进行分割，然后根据分割线和目标平面区域的边界即可得到6个分割子区域。参见图9，目标平面区域内分布有6个目标基点，6个目标基点沿目标平面区域的边界按照六边形格式在六个顶点排布，采用维诺图算法对虚拟区域进行分割，然后根据分割线和目标平面区 域的边界即可得到6个分割子区域。
如果目标平面区域的形状是特殊的非凸多边形，则采用维诺图算法对所述虚拟区域进行分割时，很容易出现不合理的结果，需要做进一步的改进。即所述方法还包括：
A1、若分割线中有在所述目标平面区域内不连续的分割线，则删除所述不连续的分割线。
A2、在包括两个以上的目标基点的删除后的区域内基于所述删除后的区域内的目标基点重新分割。
本实施例中，分割线中有在所述目标平面区域内不连续的分割线，也就是说分割线有一部分延续到目标平面区域之外，导致分割线在所述目标平面区域内不连续。分割线在所述目标平面区域内不连续，会导致将本来不相邻的区域分割到一个分割子区域中，而本来相邻的区域分割成不同的分割子区域。很显然这不合理，因此需要删除不连续的分割线。删除之后的区域内如果还包括两个以上的目标基点，则需要对这个区域重新分割，使分割后的每个分割子区域包括一个目标基点。删除之后的区域内如果只有一个目标基点，则不需要再分割。
例如，参见图10至图14，目标平面区域为一个不规则的多边形，如图10所示；在目标平面区域布置有4个目标基点A、B、C、D，如图11所示；采用维诺图算法对虚拟区域进行分割，如图12所示；分割线中有在目标平面区域内不连续的分割线，如图13所示，该不连续的分割线有一部分延续到目标平面区域之外，参见图13中的虚线，导致将本来不相邻的区域分割到一个分割子区域中，而本来相邻的区域分割成不同的分割子区域，参见图13中本来与目标基点D对应的区域相邻的一部分区域划分到与目标基点B对应的区域，而这一部分区域与目标基点B对应的区域不相邻；删除该不连续的分割线，在包括两个目标基点B、C的删除后的区域内基于目标基点B、C重新分割，如图14所示。
下面详细说明对于分割子区域的合并及拆分的细节内容。
在一实施例中，为了满足用户的需求，方便用户看到分割子区域的大小和形状，所述方法还包括：在显示界面展示所述目标平面区域及所述目标平面区 域内的分割子区域。
用户看到分割子区域的大小和形状，如果用户希望对某些子区域进行合并，则所述方法还可以包括：接收用户输入的分割子区域的合并操作。例如用户可以点击需要合并的分割子区域，再点击合并按钮；或者显示分割子区域的编号，用户在合并输入框输入需要合并的分割子区域的编号；等等。此时，步骤S104，所述根据所述分割子区域对所述目标平面区域进行划分，可以包括：根据所述分割子区域和所述合并操作，对所述目标平面区域进行划分。
通常需要合并的分割子区域是相邻的分割子区域才会进行合并，因此，步骤S104，所述根据所述分割子区域和所述合并操作，对所述目标平面区域进行划分，还可以包括：
B1、根据所述合并操作，确定需要合并的分割子区域是否是相邻的分割子区域。
B2、若需要合并的分割子区域是相邻的分割子区域，则将所述相邻的分割子区域合并为一个合并子区域，并保留没有合并的分割子区域。
其中，所述方法还包括：若需要合并的分割子区域不是相邻的分割子区域，则不执行合并操作，并保留所有的分割子区域。
在一实施例中，子步骤S1041中，所述确定需要合并的分割子区域是否是相邻的分割子区域，可以包括：
C1、若需要合并的一个分割子区域和需要合并的另一个分割子区域共同拥有一个以上的顶点，则确定需要合并的两个分割子区域是相邻的分割子区域；
C2、否则，确定需要合并的两个分割子区域不是相邻的分割子区域。
合并之后，如果用户看到合并的结果又不想合并，希望拆分，则所述方法还可以包括：接收用户输入的针对所述合并子区域的拆分操作；根据所述拆分操作，对所述合并子区域进行拆分。
例如，参见图15，目标平面区域分割后得到6个分割子区域，编码为1、2、3、4、5、6；参见图16，编码为2和5的分割子区域合并为一个合并子区域；参见图17，编码为1、2和5的分割子区域合并为一个合并子区域，或者如果在编码为2和5的分割子区域合并为一个第一合并子区域后，还希望继续 将编码为1的分割子区域合并进来，则将编码为1的分割子区域合并到第一合并子区域，成为一个第二合并子区域；参见图18，编码为1、2、4和5的分割子区域合并为一个合并子区域，或者，如果将编码为1的分割子区域合并到第一合并子区域成为一个第二合并子区域后，还希望继续将编码为5的分割子区域合并进来，则将编码为4的分割子区域合并到第二合并子区域，成为一个第三合并子区域；如果得到编码为1、0的分割子区域和第三合并子区域后，用户看后又希望将第三合并子区域拆分为原来的4个分割子区域，则可以进行拆分回到编码为1、2、4、5的分割子区域，如图15所示。
在实际应用中，可以采用双层链表对各个分割子区域进行组织，使得可以自定义各种各样复杂分割子区域的合并和拆分，能够满足后期手动修改的需求。
参见图19，图19是本申请作业区域的划分装置一实施例的结构示意图，需要说明的是，本实施例的装置能够执行上述作业区域的划分方法中的步骤，相关内容的详细说明，请参见上述作业区域的划分方法的相关内容，在此不再赘叙。
所述装置100包括：存储器1和处理器2；处理器2与存储器1通过总线连接。
其中，处理器2可以是微控制单元、中央处理单元或数字信号处理器，等等。
其中，存储器1可以是Flash芯片、只读存储器、磁盘、光盘、U盘或者移动硬盘等等。
所述存储器1用于存储计算机程序；所述处理器2用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；获取所述目标平面区域内分布的多个目标基点；基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；根据所述分割子区域对所述目标平面区域进行划分。
其中，所述目标平面区域划分后的划分子区域的数量与所述分割子区域的数量相同，所述分割子区域对应所述划分子区域。
其中，所述目标平面区域划分后的划分子区域的数量小于所述分割子区域的数量，两个以上的所述分割子区域合并为合并子区域，所述划分子区域包括所述合并子区域和未合并的分割子区域。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：获取形状规则、且覆盖所述目标平面区域的虚拟区域；在所述虚拟区域内均匀布置多个虚拟基点；将落在所述目标平面区域内的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
其中，所述虚拟基点的个数是根据所述虚拟区域分割后的子区域的预设面积来确定的。
其中，所述虚拟基点的个数是根据所述虚拟基点之间的预设间距来确定的。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据接收到的用户输入的虚拟基点之间在长度方向和宽度方向的间距，在所述虚拟区域内均匀布置多个虚拟基点。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据接收到的用户输入的所述虚拟区域分割后的子区域的面积，在所述虚拟区域内均匀布置多个虚拟基点。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：将落在所述目标平面区域内、且满足预设要求的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
其中，所述预设要求包括与所述目标平面区域的边界的距离大于或等于预设距离；和/或，不能落在所述目标平面区域的边界上。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述目标平面区域进行分割。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：获取形状规则、且覆盖所述目标平面区域的虚拟区域；基于所述目标平面区域内分布的多 个目标基点，采用维诺图算法对所述虚拟区域进行分割。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：若分割线中有在所述目标平面区域内不连续的分割线，则删除所述不连续的分割线；在包括两个以上的目标基点的删除后的区域内基于所述删除后的区域内的目标基点重新分割。
其中，所述装置还包括显示模块，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述显示模块在显示界面展示所述目标平面区域及所述目标平面区域内的分割子区域。
其中，所述装置还包括接收模块，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述接收模块接收用户输入的分割子区域的合并操作；根据所述分割子区域和所述合并操作，对所述目标平面区域进行划分。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：根据所述合并操作，确定需要合并的分割子区域是否是相邻的分割子区域；若需要合并的分割子区域是相邻的分割子区域，则将所述相邻的分割子区域合并为一个合并子区域，并保留没有合并的分割子区域。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：若需要合并的分割子区域不是相邻的分割子区域，则不执行合并操作，并保留所有的分割子区域。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：控制所述接收模块接收用户输入的针对所述合并子区域的拆分操作；根据所述拆分操作，对所述合并子区域进行拆分。
其中，所述处理器在执行所述计算机程序时，实现如下步骤：若需要合并的一个分割子区域和需要合并的另一个分割子区域共同拥有一个以上的顶点，则确定需要合并的两个分割子区域是相邻的分割子区域；否则，确定需要合并的两个分割子区域不是相邻的分割子区域。
其中，所述虚拟区域的形状为方形或圆形。
本申请还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上任一项所述的作业区域的划分方法。相关内容的详细说明请参见上述相关内容部分，在 此不再赘叙。
其中，该计算机可读存储介质可以是上述装置的内部存储单元，例如硬盘或内存。该计算机可读存储介质也可以是外部存储设备，例如配备的插接式硬盘、智能存储卡、安全数字卡、闪存卡，等等。
应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施例，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (43)

  1. 一种作业区域的划分方法，其特征在于，包括：
    获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；
    获取所述目标平面区域内分布的多个目标基点；
    基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；
    根据所述分割子区域对所述目标平面区域进行划分。
  2. 根据权利要求1所述的方法，其特征在于，所述目标平面区域划分后的划分子区域的数量与所述分割子区域的数量相同，所述分割子区域对应所述划分子区域。
  3. 根据权利要求1所述的方法，其特征在于，所述目标平面区域划分后的划分子区域的数量小于所述分割子区域的数量，两个以上的所述分割子区域合并为合并子区域，所述划分子区域包括所述合并子区域和未合并的分割子区域。
  4. 根据权利要求1所述的方法，其特征在于，所述获取所述目标平面区域内分布的多个目标基点，包括：
    获取形状规则、且覆盖所述目标平面区域的虚拟区域；
    在所述虚拟区域内均匀布置多个虚拟基点；
    将落在所述目标平面区域内的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
  5. 根据权利要求4所述的方法，其特征在于，所述虚拟基点的个数是根据所述虚拟区域分割后的子区域的预设面积来确定的。
  6. 根据权利要求4所述的方法，其特征在于，所述虚拟基点的个数是根据所述虚拟基点之间的预设间距来确定的。
  7. 根据权利要求4所述的方法，其特征在于，所述在所述虚拟区域内均匀布置多个虚拟基点，包括：
    根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点。
  8. 根据权利要求7所述的方法，其特征在于，所述根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点，包括：
    根据接收到的用户输入的虚拟基点之间在长度方向和宽度方向的间距，在所述虚拟区域内均匀布置多个虚拟基点。
  9. 根据权利要求7所述的方法，其特征在于，所述根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点，包括：
    根据接收到的用户输入的所述虚拟区域分割后的子区域的面积，在所述虚拟区域内均匀布置多个虚拟基点。
  10. 根据权利要求4所述的方法，其特征在于，所述将落在所述目标平面区域内的虚拟基点作为分布在所述目标平面区域内的多个目标基点，包括：
    将落在所述目标平面区域内、且满足预设要求的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
  11. 根据权利要求10所述的方法，其特征在于，所述预设要求包括与所述目标平面区域的边界的距离大于或等于预设距离；和/或，不能落在所述目标平面区域的边界上。
  12. 根据权利要求1所述的方法，其特征在于，所述基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，包括：
    基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述目标平面区域进行分割。
  13. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取形状规则、且覆盖所述目标平面区域的虚拟区域；
    所述基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，包括：
    基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述虚拟区域进行分割。
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    若分割线中有在所述目标平面区域内不连续的分割线，则删除所述不连续的分割线；
    在包括两个以上的目标基点的删除后的区域内基于所述删除后的区域内 的目标基点重新分割。
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在显示界面展示所述目标平面区域及所述目标平面区域内的分割子区域。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    接收用户输入的分割子区域的合并操作；
    所述根据所述分割子区域对所述目标平面区域进行划分，包括：
    根据所述分割子区域和所述合并操作，对所述目标平面区域进行划分。
  17. 根据权利要求16所述的方法，其特征在于，所述根据所述分割子区域和所述合并操作，对所述目标平面区域进行划分，包括：
    根据所述合并操作，确定需要合并的分割子区域是否是相邻的分割子区域；
    若需要合并的分割子区域是相邻的分割子区域，则将所述相邻的分割子区域合并为一个合并子区域，并保留没有合并的分割子区域。
  18. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    若需要合并的分割子区域不是相邻的分割子区域，则不执行合并操作，并保留所有的分割子区域。
  19. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    接收用户输入的针对所述合并子区域的拆分操作；
    根据所述拆分操作，对所述合并子区域进行拆分。
  20. 根据权利要求17所述的方法，其特征在于，所述确定需要合并的分割子区域是否是相邻的分割子区域，包括：
    若需要合并的一个分割子区域和需要合并的另一个分割子区域共同拥有一个以上的顶点，则确定需要合并的两个分割子区域是相邻的分割子区域；
    否则，确定需要合并的两个分割子区域不是相邻的分割子区域。
  21. 根据权利要求4或13所述的方法，其特征在于，所述虚拟区域的形状为方形或圆形。
  22. 一种作业区域的划分装置，其特征在于，所述装置包括：存储器和处理器；
    所述存储器用于存储计算机程序；
    所述处理器用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    获取与作业区域的形状相同、且代表所述作业区域的目标平面区域；
    获取所述目标平面区域内分布的多个目标基点；
    基于所述目标平面区域内分布的多个目标基点，对所述目标平面区域进行分割，使分割后得到的每个分割子区域中包括一个目标基点；
    根据所述分割子区域对所述目标平面区域进行划分。
  23. 根据权利要求22所述的装置，其特征在于，所述目标平面区域划分后的划分子区域的数量与所述分割子区域的数量相同，所述分割子区域对应所述划分子区域。
  24. 根据权利要求22所述的装置，其特征在于，所述目标平面区域划分后的划分子区域的数量小于所述分割子区域的数量，两个以上的所述分割子区域合并为合并子区域，所述划分子区域包括所述合并子区域和未合并的分割子区域。
  25. 根据权利要求22所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    获取形状规则、且覆盖所述目标平面区域的虚拟区域；
    在所述虚拟区域内均匀布置多个虚拟基点；
    将落在所述目标平面区域内的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
  26. 根据权利要求25所述的装置，其特征在于，所述虚拟基点的个数是根据所述虚拟区域分割后的子区域的预设面积来确定的。
  27. 根据权利要求25所述的装置，其特征在于，所述虚拟基点的个数是根据所述虚拟基点之间的预设间距来确定的。
  28. 根据权利要求25所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    根据接收到的用户的基点布置操作，在所述虚拟区域内均匀布置多个虚拟基点。
  29. 根据权利要求28所述的装置，其特征在于，所述处理器在执行所述 计算机程序时，实现如下步骤：
    根据接收到的用户输入的虚拟基点之间在长度方向和宽度方向的间距，在所述虚拟区域内均匀布置多个虚拟基点。
  30. 根据权利要求28所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    根据接收到的用户输入的所述虚拟区域分割后的子区域的面积，在所述虚拟区域内均匀布置多个虚拟基点。
  31. 根据权利要求25所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    将落在所述目标平面区域内、且满足预设要求的虚拟基点作为分布在所述目标平面区域内的多个目标基点。
  32. 根据权利要求31所述的装置，其特征在于，所述预设要求包括与所述目标平面区域的边界的距离大于或等于预设距离；和/或，不能落在所述目标平面区域的边界上。
  33. 根据权利要求22所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述目标平面区域进行分割。
  34. 根据权利要求22所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    获取形状规则、且覆盖所述目标平面区域的虚拟区域；
    基于所述目标平面区域内分布的多个目标基点，采用维诺图算法对所述虚拟区域进行分割。
  35. 根据权利要求34所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    若分割线中有在所述目标平面区域内不连续的分割线，则删除所述不连续的分割线；
    在包括两个以上的目标基点的删除后的区域内基于所述删除后的区域内的目标基点重新分割。
  36. 根据权利要求22所述的装置，其特征在于，所述装置还包括显示模块，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述显示模块在显示界面展示所述目标平面区域及所述目标平面区域内的分割子区域。
  37. 根据权利要求36所述的装置，其特征在于，所述装置还包括接收模块，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述接收模块接收用户输入的分割子区域的合并操作；
    根据所述分割子区域和所述合并操作，对所述目标平面区域进行划分。
  38. 根据权利要求37所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    根据所述合并操作，确定需要合并的分割子区域是否是相邻的分割子区域；
    若需要合并的分割子区域是相邻的分割子区域，则将所述相邻的分割子区域合并为一个合并子区域，并保留没有合并的分割子区域。
  39. 根据权利要求38所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    若需要合并的分割子区域不是相邻的分割子区域，则不执行合并操作，并保留所有的分割子区域。
  40. 根据权利要求38所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    控制所述接收模块接收用户输入的针对所述合并子区域的拆分操作；
    根据所述拆分操作，对所述合并子区域进行拆分。
  41. 根据权利要求38所述的装置，其特征在于，所述处理器在执行所述计算机程序时，实现如下步骤：
    若需要合并的一个分割子区域和需要合并的另一个分割子区域共同拥有一个以上的顶点，则确定需要合并的两个分割子区域是相邻的分割子区域；
    否则，确定需要合并的两个分割子区域不是相邻的分割子区域。
  42. 根据权利要求25或34所述的装置，其特征在于，所述虚拟区域的形状为方形或圆形。
  43. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-21任一项所述的作业区域的划分方法。
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CN103559209A (zh) * 2013-10-10 2014-02-05 河南大学 一种Voronoi Diagram与虚拟网格结合的高效空间最近邻查询方法
CN103699135A (zh) * 2014-01-03 2014-04-02 中南大学 无人直升机农药喷洒农田作业区域的航迹自动规划方法
CN106227237A (zh) * 2016-09-29 2016-12-14 广州极飞科技有限公司 无人机的飞行任务的分配方法和装置
AU2020217371A1 (en) * 2019-08-13 2021-03-04 Magnetic South Pty Ltd A method of surveying a target

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Publication number Priority date Publication date Assignee Title
CN103559209A (zh) * 2013-10-10 2014-02-05 河南大学 一种Voronoi Diagram与虚拟网格结合的高效空间最近邻查询方法
CN103699135A (zh) * 2014-01-03 2014-04-02 中南大学 无人直升机农药喷洒农田作业区域的航迹自动规划方法
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