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Route planning method, device, equipment and storage medium in work area

A technology for operating area and route planning, applied in vehicle position/route/height control, three-dimensional position/channel control, non-electric variable control, etc., can solve problems such as low operating efficiency and increased labor costs

Active Publication Date: 2019-02-15
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of realizing the present invention, the inventor found that the prior art has the following defects: the method of manually measuring and obtaining data such as tree position information and tree height of operating trees is not only low in operating efficiency, but when it comes to a larger operating area, The required labor costs have also increased significantly

Method used

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  • Route planning method, device, equipment and storage medium in work area
  • Route planning method, device, equipment and storage medium in work area
  • Route planning method, device, equipment and storage medium in work area

Examples

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Embodiment 1

[0106] figure 1 It is a flowchart of a route planning method in an operation area provided by Embodiment 1 of the present invention. This embodiment can be applied to intelligently obtain the tree position information and tree height of the target operation tree in the operation area, and plan the route planning method in the operation area. In the case of the operation route for the target operation tree in the area, the method can be executed by the route planning device in the operation area, which can be implemented by software and / or hardware, and can generally be integrated into a server or terminal device In the middle, it is used in conjunction with the operation drone. Correspondingly, such as figure 1 As shown, the method includes the following operations:

[0107] S110. Acquire a digital orthophoto image and a digital surface model of the operation area, the digital orthophoto image includes outline information of candidate operating trees, and the digital surface...

Embodiment 2

[0132] Figure 2a It is a flow chart of a route planning method in an operation area provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments. In this embodiment, the method for identifying the digital orthophoto The tree outline information and tree position information in the figure, the digital surface model data of the area corresponding to the tree outline information is obtained in the digital surface model, and the tree corresponding to each candidate operation tree is determined according to the digital surface model data The tree height, and according to the tree height and the tree position information, a specific implementation method of planning a transition route connecting each of the target operation trees. Correspondingly, such as Figure 2a As shown, the method of this embodiment may include:

[0133] S210. Acquire a digital orthophoto image and a digital surface model of the operation are...

Embodiment 3

[0177] Figure 3a It is a flowchart of a route planning method in an operation area provided by Embodiment 3 of the present invention. This embodiment is embodied on the basis of the above embodiments. The tree height and the tree position information of the tree plan a specific implementation of a local flight route connecting any two adjacent target operation trees. Correspondingly, such as Figure 3a As shown, the method of this embodiment may include:

[0178] S310. Acquire a digital orthophoto image and a digital surface model of the operation area, the digital orthophoto image includes outline information of candidate operating trees, and the digital surface model includes elevation information of candidate operating trees.

[0179] S320. Identify the tree outline information and tree position information in the digital orthophoto image, acquire the digital surface model data of the area corresponding to the tree outline information in the digital surface model, and de...

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Abstract

The embodiment of the invention discloses a route planning method, device, equipment and storage medium in a work area. The method comprises the following steps: acquiring a digital orthophoto image and a digital surface model of the work area; identifying tree contour information and tree position information in the digital orthophoto image, acquiring digital surface model data of a correspondingarea of the tree contour information in the digital surface model and determining the height of a tree corresponding to each candidate working tree according to the digital surface model data; determining at least two target working trees according to candidate working trees in the working area; determining a single tree working route corresponding to each target working tree, and planning a transition route connecting the respective target working trees. By adopting the technical scheme provided by the embodiment of the invention, the intelligent and precise positioning of data such as the tree position information, tree height and the like of the target working trees in the work area can be realized, so that the working efficiency of a working unmanned aerial vehicle is improved, and the labor cost is reduced.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of route planning, and in particular, to a method, device, device and storage medium for route planning in an operation area. Background technique [0002] With the rapid growth of the UAV market, plant protection UAVs are also widely used for operations. Compared with traditional manual operations, plant protection drones have great advantages in plant protection operations. Before using plant protection drones for plant protection operations, it is first necessary to obtain the operating trees in the plant protection drone operating area (if the fruit trees in the forest etc.) tree position information and tree height data, in order to plan the flight route of the plant protection UAV according to the acquired data. [0003] In the prior art, data such as tree position information and tree height of working trees are usually obtained by manual measurement. For example, a hand-he...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/101
Inventor 吴奔冼嘉晖
Owner GUANGZHOU XAIRCRAFT TECH CO LTD
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