CN114415656B - Unmanned equipment multi-plot operation processing method, device, equipment and storage medium - Google Patents
Unmanned equipment multi-plot operation processing method, device, equipment and storage medium Download PDFInfo
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- CN114415656B CN114415656B CN202111470658.5A CN202111470658A CN114415656B CN 114415656 B CN114415656 B CN 114415656B CN 202111470658 A CN202111470658 A CN 202111470658A CN 114415656 B CN114415656 B CN 114415656B
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for processing multi-plot operation of unmanned equipment, wherein the method comprises the following steps: sequentially determining a first operation land parcel and a second operation land parcel according to land parcel selection operation; generating a first operation path corresponding to a first operation land block, and determining barrier information of the first operation land block and the second operation land block; and generating a second working path corresponding to a second working land block according to the working parameters, the working starting point, the working ending point and the obstacle information of the first working path. According to the scheme, the operation efficiency of unmanned equipment is improved, the operation time and operation frequency of a user are reduced, and meanwhile, the task management efficiency is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of unmanned equipment, in particular to a method, a device, equipment and a storage medium for processing multi-plot operation of unmanned equipment.
Background
With the development of unmanned apparatuses, a form of performing work using unmanned apparatuses is widely used. Such as using an unmanned aerial vehicle to perform automatic operations on the land where the operations are to be performed. In the operation process of unmanned equipment, the unmanned equipment usually works along a set path so as to complete the operation tasks of corresponding land parcels, such as pesticide spraying tasks, seeding tasks and the like.
In the prior art, when unmanned equipment works on a land, the unmanned equipment works according to a planned path of the land, when one land works, an operator sets a second land working path, and controls the unmanned equipment to work on the second land, and so on. This kind of mode complex operation is unfavorable for improving the operating efficiency to the less plot of area, needs the improvement.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for processing multi-plot operation of unmanned equipment, which solve the problem of low operation efficiency caused by operation planning of a single plot in the prior art, improve the operation efficiency of the unmanned equipment, reduce the operation time and operation frequency of a user and improve the task management efficiency.
In a first aspect, an embodiment of the present invention provides a method for processing multi-plot operation of unmanned equipment, where the method includes:
Sequentially determining a first operation land parcel and a second operation land parcel according to land parcel selection operation;
generating a first operation path corresponding to a first operation land block, and determining barrier information of the first operation land block and the second operation land block;
And generating a second working path corresponding to a second working land block according to the working parameters, the working starting point, the working ending point and the obstacle information of the first working path.
In a second aspect, an embodiment of the present invention further provides an apparatus for processing a multi-plot operation of an unmanned device, where the apparatus includes:
the land block selection module is used for sequentially determining a first operation land block and a second operation land block according to land block selection operation;
The path generation module is used for generating a first operation path corresponding to a first operation block, determining barrier information of the first operation block and the second operation block, and generating a second operation path corresponding to the second operation block according to operation parameters, operation starting points, operation ending points and the barrier information of the first operation path.
In a third aspect, an embodiment of the present invention further provides an unmanned device multi-plot job processing device, where the device includes:
one or more processors;
storage means for storing one or more programs,
When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the unmanned equipment multi-plot operation processing method according to the embodiment of the invention.
In a fourth aspect, the embodiment of the present invention further provides a storage medium storing computer executable instructions, where the computer executable instructions when executed by a computer processor are used to perform the unmanned device multi-plot job processing method according to the embodiment of the present invention.
In the embodiment of the invention, a first operation land parcel and a second operation land parcel are sequentially determined according to land parcel selection operation, after a first operation path corresponding to the first operation land parcel is generated, barrier information of the first operation land parcel and the second operation land parcel is determined, and then a second operation path corresponding to the second operation land parcel is generated according to operation parameters, an operation starting point, an operation finishing point and the barrier information of the first operation path. Therefore, the continuous operation paths for a plurality of operation plots are set, the problem of low operation efficiency caused by operation planning of a single plot in the prior art is solved, the operation efficiency of unmanned equipment is improved, the operation time and the operation frequency of a user are reduced, and meanwhile, the task management efficiency is improved.
Drawings
Fig. 1 is a flowchart of a method for processing multi-plot operation of unmanned equipment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an interface showing two work plots according to an embodiment of the present invention;
FIG. 3 is an interface schematic diagram for generating a first operation path according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of generating a first job path and a second job path according to an embodiment of the present invention;
FIG. 5 is a flowchart of another method for processing multi-plot operation of unmanned equipment according to an embodiment of the present invention;
FIG. 6 is a flowchart of another method for processing multi-plot operation of unmanned equipment according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of generating a region including a work area according to an embodiment of the present invention;
FIG. 8 is a flowchart of another method for processing multi-plot operation of unmanned equipment according to an embodiment of the present invention;
FIG. 9 is a flowchart of another method for processing multi-plot operation of unmanned equipment according to an embodiment of the present invention;
fig. 10 is a schematic block diagram of a multi-plot operation processing device of an unmanned device according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an unmanned device multi-plot operation processing device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are obtained by a person skilled in the art based on the embodiments of the present application, fall within the scope of protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type, and are not limited to the number of objects, such as the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The method for processing the unmanned equipment multi-plot operation provided by the embodiment of the application is described in detail through specific embodiments and application scenes thereof by combining the attached drawings.
Fig. 1 is a flowchart of a method for processing multi-plot operation of unmanned equipment, which is provided in an embodiment of the present invention, and the method may be executed by a computing device, such as a server, an unmanned equipment controller or a smart phone, and specifically includes the following steps:
Step S101, a first operation land parcel and a second operation land parcel are sequentially determined according to land parcel selection operation.
The operation land block is an area where unmanned equipment needs to operate. Such as an area where an unmanned aerial vehicle flies above a work area to perform pesticide spraying work. In a larger geographical area, the system can be divided into a plurality of operation plots, and the operation plots with the area not exceeding 3 mu are exemplified. The first operation land block and the second operation land block are operation land blocks divided in different ranges. Exemplary, as shown in fig. 2, fig. 2 is a schematic diagram of an interface displaying two work plots according to an embodiment of the present invention. In the display interface 10, two work plots are displayed, denoted as a first work plot 11 and a second work plot 12, respectively. For convenience of explanation, in this embodiment, two work plots are illustrated, and more than two work plots, such as 3 or 5 work plots, may be displayed on the display interface at the same time and selected sequentially. In this scheme, the job path generation modes of two job plots are exemplarily described, and the job path generation modes of more than two job plots, such as 3 job plots or 4 job plots, etc., are similar, and are not repeated.
In one embodiment, after a plurality of job tiles are displayed in the display interface, the plurality of job tiles are determined based on the detected tile selection operation order. The block selection operation may be, for example, a clicking operation on a displayed operation block area, and as shown in fig. 2, a user may click on the first operation block 11 and the second operation block 12 respectively, and accordingly determine that the first operation block 11 is an area where the first operation of the unmanned device is performed, and the second operation block 12 is an area where the unmanned device performs the operation after the first operation block 11.
Step S102, generating a first operation path corresponding to a first operation land block, and determining barrier information of the first operation land block and the second operation land block.
In one embodiment, when a first job block generates a job path, if a newly built round trip job path is already stored in the block, automatically generating the newly built job path as the first job path; if the parcel is not newly built with a round-trip job path, the manner in which the first job path is generated may be by using the generated security points. If the safety point is automatically generated in the edge area of the first operation land or manually generated according to the marking operation of the user, the safety point is used as the starting point of the first operation land, and the connecting line path of the starting point and the flying spot of the unmanned equipment is the operation path of the unmanned equipment entering the first operation land. The job paths in the first job block may be generated by adopting a path mode of equidistant side-by-side round trip, and as shown in fig. 3, for example, fig. 3 is an interface schematic diagram for generating the first job path according to an embodiment of the present invention.
The obstacle information records data information of the obstacle in the area where the unmanned equipment needs to work, such as specific position coordinates of the obstacle, the type of the obstacle and the like, and the position area which needs to be bypassed when generating a work path. For example, the obstacle information may be determined from a survey record in the field or from an image taken by the unmanned device in combination with geographical location information. In one embodiment, the first work area and the second work area and the area therebetween are determined as areas where obstacle information is determined, and the obstacle information within the divided areas is determined as the obstacle information of the first work area and the second work area.
Step S103, generating a second working path corresponding to a second working block according to the working parameters, the working start point, the working end point and the obstacle information of the first working path.
The operation parameters include operation height, operation speed, operation path distance, boundary safety distance, obstacle safety distance and the like. In one embodiment, when the first working path is determined and then the second working path is determined, the second working path corresponding to the second working block is generated according to the working parameters, the working start point, the working end point and the determined obstacle information of the first working path. Specifically, the method comprises the following steps: and taking the operation end point of the first operation path as the operation start point of the second operation block, taking the operation start point of the first operation path as the return end point of the second operation block, and taking the operation parameter of the first operation path as the operation parameter of the second operation block. And generating a second working path according to the working starting point, the returning terminal point, the working parameters and the obstacle information. Optionally, after determining the operation start point, the return end point and the operation parameters, generating an operation path according to a shortest path principle, and if obstacle information exists in the operation path generation path, automatically bypassing the obstacle according to the obstacle safety distance set in the operation path parameters. Exemplary, the result is shown in fig. 4, and fig. 4 is a schematic diagram of generating a first job path and a second job path according to an embodiment of the present invention.
According to the method, aiming at the operation situation of multiple plots, the first operation plots and the second operation plots are sequentially determined according to the plot selection operation, after the first operation path corresponding to the first operation plots is generated, the barrier information of the first operation plots and the second operation plots is determined, and then the second operation path corresponding to the second operation plots is generated according to the operation parameters, the operation starting point, the operation ending point and the barrier information of the first operation path, so that the setting of continuous operation paths for the multiple operation plots is realized, the problem of low operation efficiency caused by operation planning of a single plot in the prior art is solved, the operation efficiency of the multiple plots can be realized in one stand task by unmanned equipment, the operation time and the operation frequency of a user are reduced, and the task management efficiency is improved.
Fig. 5 is a flowchart of another multi-block operation processing method of unmanned equipment provided by the embodiment of the present invention, which provides a specific case of sequentially determining a first operation block and a second operation block according to a block selection operation, and specifically includes the following steps:
Step 201, displaying a plurality of operation plots and preset icon identifiers in a display interface, and sequentially determining a first operation plot and a second operation plot in the plurality of operation plots according to the detected dragging operation of the preset icon identifiers.
In one embodiment, when selecting a job block, the method may be implemented by displaying a preset icon identifier, such as a simulated icon of the unmanned device, in a display interface, and performing block selection based on dragging of the icon. Specifically, the preset icon identifier may be selected by a clicking operation, and displaced according to a drag operation, and when it moves to a certain job block, the job block is recorded by a corresponding mark. Optionally, a confirmation dialog box may be popped up and a text prompt may be given, such as displaying the name of the selected job block, and displaying the "ok" and "cancel" buttons for the user to click, thereby completing the selection of the job block in turn.
Step S202, a first operation path corresponding to a first operation land block is generated, and barrier information of the first operation land block and the second operation land block is determined.
Step S203, generating a second working path corresponding to a second working block according to the working parameters, the working start point, the working end point and the obstacle information of the first working path.
According to the scheme, the plurality of operation plots and the preset icon identification are displayed in the display interface, the first operation plot and the second operation plot are sequentially determined in the plurality of operation plots according to the detected dragging operation of the preset icon identification, so that the selection of plots can be rapidly and conveniently realized, the man-machine interaction efficiency is remarkably improved, and meanwhile, the setting of the plurality of operation plots is conveniently, intuitively and conveniently carried out.
Fig. 6 is a flowchart of another method for processing multi-plot operation of unmanned equipment, provided by the embodiment of the invention, and provides a specific method for determining obstacle information, which specifically includes the following steps:
Step S301, a first operation land parcel and a second operation land parcel are sequentially determined according to land parcel selection operation.
Step S302, generating a regional range containing the first operation land parcel and the second operation land parcel, and determining obstacle information in the regional range as the obstacle information of the first operation land parcel and the second operation land parcel.
Specifically, after determining the first work parcel and the second work parcel, a region range including the two selected parcels may be generated and displayed in the display interface, and the obstacle information within the region range is determined as the obstacle information of the first work parcel and the second work parcel. In one embodiment, when performing job path planning, the manner in which the generated area coverage including the first job parcel and the second job parcel includes: generating a polygonal area comprising the first work parcel and the second work parcel based on the current starting point position of the unmanned equipment and parcel boundaries of the first work parcel and the second work parcel, wherein the polygonal area is used for planning a round trip path between the current starting point position of the unmanned equipment and the first work parcel or the second work parcel. Specifically, as shown in fig. 7, fig. 7 is a schematic diagram of generating a region including a work area according to an embodiment of the present invention. The current starting point position of the unmanned device is exemplified by the position indicated by the mark 15, and the generated polygonal area is determined according to the current starting point position of the unmanned device and the boundary of the operation land block. Optionally, based on a preset safety distance, such as 1 meter, 3 meters or 5 meters, the preset safety distance is extended to the outer boundary of the operation land block to generate each side of the polygon so as to finally form the polygon area. In the polygonal area, a path for the current starting point position of the unmanned device to enter the first operation block, a path between the first operation block and the second operation block and a return path from the second operation block to the starting point before the unmanned device starts operation are planned.
Step S303, generating a second working path corresponding to a second working block according to the working parameters, the working start point, the working end point and the obstacle information of the first working path.
As is clear from the above-described aspects, the method includes generating the area range including the first work parcel and the second work parcel, determining the obstacle information within the area range as the obstacle information of the first work parcel and the second work parcel, and ensuring the safety and the rationality of generating the work path by using the obstacle within the delimited area range as the common obstacle of the work parcel and the reference basis in the process of generating the work path.
Fig. 8 is a flowchart of another method for processing multi-plot operation of unmanned equipment, provided by the embodiment of the invention, which provides a specific method for adjusting a generated operation path, and specifically includes the following steps:
step S401, a first operation land parcel and a second operation land parcel are sequentially determined according to land parcel selection operation.
Step S402, a first operation path corresponding to a first operation land block is generated, and barrier information of the first operation land block and the second operation land block is determined.
Step S403, generating a second working path corresponding to a second working block according to the working parameters, the working start point, the working end point and the obstacle information of the first working path.
Step S404, displaying an access path in the first working path and the second working path, where the access path includes a path between the first working block and the second working block, a path from a landing point of the unmanned device to the working block, and a return path of the unmanned device, and adjusting the access path according to the detected editing operation of the access path.
In one embodiment, editing operations may be performed for the generated job paths, such as for an access path in the job paths, including a path between the first job parcel and the second job parcel, a path from the unmanned device take-off and landing point to the job parcel, and a return path for the unmanned device, etc., such as for example, the job path 14 between the first job parcel 11 and the second job parcel 12 marked in fig. 4, may be displayed at the corresponding locations of the access path.
According to the scheme, corresponding editing operation can be performed on the access path in the generated working path, so that the mode of generating the working path has stronger flexibility, and the working path can be adjusted correspondingly according to the requirements of users.
Fig. 9 is a flowchart of another method for processing multi-plot operation of unmanned equipment, provided by the embodiment of the invention, and provides a specific method for adjusting the order of the plots, which specifically includes the following steps:
step S501, a first operation land parcel and a second operation land parcel are sequentially determined according to land parcel selection operation.
Step S502, a first operation path corresponding to a first operation land block is generated, and barrier information of the first operation land block and the second operation land block is determined.
Step S503, generating a second working path corresponding to a second working block according to the working parameters, the working start point, the working end point and the obstacle information of the first working path.
Step S504, in the displayed block sequence editing interface, receiving operation sequence editing operation on the first operation block and the second operation block, adjusting the operation sequence of the first operation block and the second operation block according to the operation sequence editing operation, and regenerating a operation path according to the adjusted operation sequence.
In one embodiment, a list containing the selected job lot names may be displayed in a display interface. Optionally, the order of the list from top to bottom is the order of selecting the job block. For each operational control of the operational plots displayed in the list, the user may manually drag to change the order of the operational plots to change the order of the operations of the unmanned device. If the second operation block is dragged and sequenced to the first operation block, a second operation path corresponding to the second operation block is generated in the process of generating the operation path, and a first operation path corresponding to the first operation block is generated based on the second operation path.
According to the scheme, in the displayed block sequence editing interface, the operation sequence editing operation on the first operation block and the second operation block is received, the operation sequence of the first operation block and the second operation block is adjusted according to the operation sequence editing operation, and the operation path is regenerated according to the adjusted operation sequence, so that a convenient method for carrying out operation path planning on the operation block again is realized, user operation is simplified, and user experience is further optimized.
On the basis of the technical scheme, after the first operation land parcel and the second operation land parcel are sequentially determined according to the land parcel selecting operation, the method further comprises the following steps: determining other operation plots according to the plot selection operation; when the upper limit of the operation land parcel selection is detected to be reached, the reminding information is triggered. In one embodiment, the operation distance limitation of one frame operation task is limited by the unmanned equipment, and if the maximum operation distance is exceeded and one frame operation cannot be realized, a corresponding prompt is given. If the operation area is determined to be larger than the maximum area of one-time operation of the unmanned equipment according to the selected land, a prompt that the operation area of the plurality of land areas exceeds the maximum limit is given so as to ensure the feasibility of finally generating an operation path, further perfecting a multi-land operation processing mechanism and ensuring the safe operation of the unmanned equipment.
Fig. 10 is a schematic block diagram of an apparatus for processing multi-plot operation of unmanned equipment according to an embodiment of the present invention, where the apparatus is configured to execute the above-described method for processing multi-plot operation of unmanned equipment, and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 10, the system specifically includes: a plot selection module 101 and a path generation module 102, wherein,
A block selection module 101 for sequentially determining a first operation block and a second operation block according to a block selection operation;
the path generation module 102 is configured to generate a first job path corresponding to a first job block, determine obstacle information of the first job block and the second job block, and generate a second job path corresponding to the second job block according to a job parameter, a job start point, a job end point, and the obstacle information of the first job path.
According to the scheme, the first operation land parcel and the second operation land parcel are sequentially determined according to land parcel selection operation, the obstacle information of the first operation land parcel and the second operation land parcel is determined after the first operation path corresponding to the first operation land parcel is generated, and the second operation path corresponding to the second operation land parcel is generated according to the operation parameters, the operation starting point, the operation ending point and the obstacle information of the first operation path. Therefore, the continuous operation paths for a plurality of operation plots are set, the problem of low operation efficiency caused by operation planning of a single plot in the prior art is solved, the operation efficiency of unmanned equipment is improved, the operation time and the operation frequency of a user are reduced, and meanwhile, the task management efficiency is improved.
In one possible embodiment, the land parcel selection module 101 is specifically configured to:
displaying a plurality of operation plots and a preset icon identifier in a display interface;
And according to the detected dragging operation of the preset icon mark, sequentially determining a first operation land parcel and a second operation land parcel in the plurality of operation land parcel.
In one possible embodiment, the path generating module 102 is specifically configured to:
generating a range of areas containing the first work parcel and the second work parcel;
and determining obstacle information in the area range as the obstacle information of the first operation land block and the second operation land block.
In one possible embodiment, the path generating module 102 is specifically configured to:
generating a polygonal area containing the first work plot and the second work plot based on a current starting point position of unmanned equipment and plot boundaries of the first work plot and the second work plot, wherein the polygonal area is used for planning a round trip path between the current starting point position and the first work plot or the second work plot.
In one possible embodiment, the path generating module 102 is specifically configured to:
Taking the operation end point of the first operation path as the operation start point of the second operation block, taking the operation start point of the first operation path as the return end point of the second operation block, and taking the operation parameter of the first operation path as the operation parameter of the second operation block;
And generating a second working path according to the working starting point, the returning terminal point, the working parameters and the obstacle information.
In one possible embodiment, the parcel selection module 101 is further configured to:
After the first operation land parcel and the second operation land parcel are sequentially determined according to the land parcel selection operation, other operation land parcel are determined according to the land parcel selection operation;
When the upper limit of the operation land parcel selection is detected to be reached, the reminding information is triggered.
In one possible embodiment, the path generation module 102 is further configured to:
after a second working path corresponding to a second working block is generated according to working parameters, a working starting point, a working ending point and the obstacle information of the first working path, an access path in the first working path and the second working path is displayed, wherein the access path comprises a path between the first working block and the second working block, a path from an unmanned equipment lifting point to the working block and a return path of unmanned equipment; and adjusting the access path according to the detected editing operation on the access path.
In one possible embodiment, the parcel selection module 101 is further configured to:
After a second operation path corresponding to a second operation block is generated according to the operation parameters, the operation starting point, the operation ending point and the obstacle information of the first operation path, receiving operation of editing the operation sequence of the first operation block and the second operation block in a block sequence editing interface; adjusting the operation sequence of the first operation land block and the second operation land block according to the operation sequence editing operation;
The path generation module 102 is further configured to: and regenerating a job path according to the adjusted job sequence.
Fig. 11 is a schematic structural diagram of an unmanned equipment multi-plot operation processing device according to an embodiment of the present invention, where, as shown in fig. 11, the device includes a processor 201, a memory 202, an input device 203, and an output device 204; the number of processors 201 in the device may be one or more, one processor 201 being taken as an example in fig. 11; the processor 201, memory 202, input device 203, and output device 204 in the apparatus may be connected by a bus or other means, for example in fig. 11. The memory 202 is used as a computer readable storage medium, and may be used to store a software program, a computer executable program, and modules, such as program instructions/modules corresponding to the unmanned device multi-plot job processing method in the embodiment of the present invention. The processor 201 executes various functional applications of the apparatus and data processing by running software programs, instructions and modules stored in the memory 202, that is, implements the unmanned apparatus multi-block job processing method described above. The input means 203 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output device 204 may include a display device such as a display screen.
The embodiment of the invention also provides a storage medium containing computer executable instructions, which can be stored in the form of a server application, wherein the computer executable instructions are used for executing an unmanned equipment multi-plot job processing method when being executed by a computer processor, and the method comprises the following steps:
Sequentially determining a first operation land parcel and a second operation land parcel according to land parcel selection operation;
generating a first operation path corresponding to a first operation land block, and determining barrier information of the first operation land block and the second operation land block;
And generating a second working path corresponding to a second working land block according to the working parameters, the working starting point, the working ending point and the obstacle information of the first working path.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be an unmanned device, a mobile phone, a computer, a server or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.
Claims (9)
1. The unmanned equipment multi-plot operation processing method is characterized by comprising the following steps of:
Sequentially determining a first operation land parcel and a second operation land parcel according to land parcel selection operation;
Generating a first operation path corresponding to a first operation land parcel, determining barrier information of the first operation land parcel and the second operation land parcel, wherein the generating comprises generating an area range comprising the first operation land parcel and the second operation land parcel, and the generating comprises: generating a polygonal area containing the first operation block and the second operation block based on the current starting point position of unmanned equipment and block boundaries of the first operation block and the second operation block, wherein the polygonal area is used for planning a round trip path between the current starting point position and the first operation block or the second operation block, and obstacle information in the area range is determined as the obstacle information of the first operation block and the second operation block;
And generating a second working path corresponding to a second working land block according to the working parameters, the working starting point, the working ending point and the obstacle information of the first working path.
2. The unmanned equipment multi-parcel job processing method according to claim 1, wherein the sequentially determining the first job parcel and the second job parcel according to the parcel selection operation comprises:
displaying a plurality of operation plots and a preset icon identifier in a display interface;
And according to the detected dragging operation of the preset icon mark, sequentially determining a first operation land parcel and a second operation land parcel in the plurality of operation land parcel.
3. The unmanned equipment multi-block job processing method according to claim 1, wherein the generating a second job path corresponding to a second job block according to the job parameters, the job start point, the job end point, and the obstacle information of the first job path comprises:
Taking the operation end point of the first operation path as the operation start point of the second operation block, taking the operation start point of the first operation path as the return end point of the second operation block, and taking the operation parameter of the first operation path as the operation parameter of the second operation block;
And generating a second working path according to the working starting point, the returning terminal point, the working parameters and the obstacle information.
4. The unmanned equipment multi-parcel job processing method according to claim 1, further comprising, after sequentially determining the first job parcel and the second job parcel according to the parcel selection operation:
Determining other operation plots according to the plot selection operation;
When the upper limit of the operation land parcel selection is detected to be reached, the reminding information is triggered.
5. The unmanned equipment multi-block job processing method according to claim 1, further comprising, after generating a second job path corresponding to a second job block from the job parameters of the first job path, the job start point, the job end point, and the obstacle information:
Displaying access paths in the first operation path and the second operation path, wherein the access paths comprise paths between the first operation land block and the second operation land block, paths from the take-off and landing point of unmanned equipment to the operation land block and return paths of the unmanned equipment;
and adjusting the access path according to the detected editing operation on the access path.
6. The unmanned equipment multi-block job processing method according to claim 1, further comprising, after generating a second job path corresponding to a second job block from the job parameters of the first job path, the job start point, the job end point, and the obstacle information:
Receiving operation sequence editing operation of the first operation land parcel and the second operation land parcel in a displayed land parcel sequence editing interface;
adjusting the operation sequence of the first operation land block and the second operation land block according to the operation sequence editing operation;
and regenerating a job path according to the adjusted job sequence.
7. Unmanned equipment multi-plot operation processing apparatus, its characterized in that includes:
the land block selection module is used for sequentially determining a first operation land block and a second operation land block according to land block selection operation;
The path generation module is used for generating a first operation path corresponding to a first operation block, determining obstacle information of the first operation block and the second operation block, and generating a second operation path corresponding to the second operation block according to operation parameters, operation starting points, operation ending points and the obstacle information of the first operation path, wherein the path generation module is specifically used for generating a polygonal area containing the first operation block and the second operation block based on the current starting point position of unmanned equipment and block boundaries of the first operation block and the second operation block, and the polygonal area is used for planning a round trip path between the current starting point position and the first operation block or the second operation block, and determining the obstacle information in the area range as the obstacle information of the first operation block and the second operation block.
8. An unmanned device multi-plot job processing device, the device comprising: one or more processors; storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the unmanned device multi-plot job processing method of any of claims 1-6.
9. A storage medium storing computer executable instructions which, when executed by a computer processor, are for performing the unmanned device multi-plot job processing method of any of claims 1-6.
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| CN110134147A (en) * | 2019-06-20 | 2019-08-16 | 安阳全丰航空植保科技股份有限公司 | A kind of autonomous paths planning method and device of plant protection drone |
| WO2021237448A1 (en) * | 2020-05-26 | 2021-12-02 | 深圳市大疆创新科技有限公司 | Path planning method, apparatus, and system |
| CN113671988B (en) * | 2021-08-10 | 2024-07-05 | 广州极飞科技股份有限公司 | Job path setting method, apparatus, system, and storage medium |
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