Unmanned aerial vehicle operation path planning method and device, unmanned aerial vehicle and medium

Abstract

The invention discloses an unmanned aerial vehicle operation path planning method and device, an unmanned aerial vehicle and a medium. The method comprises the steps of determining concave points on the boundary of an operation area, generating segmentation lines passing through the concave points in the operation direction so as to segment the operation area into a plurality of sub-areas, planning operation paths of the sub-areas, when it is determined that the two adjacent sub-areas taking the concave point as the common vertex and having no common boundary meet a preset merging condition, merging the operation paths close to the concave point in the two adjacent sub-areas, and performing global optimization on the merged operation paths and the operation paths of the other sub-areas toobtain the operation paths of the operation regions. The detour frequency and the steering frequency of the unmanned aerial vehicle when the unmanned aerial vehicle encounters the concave points are reduced, the non-operation distance and the steering of the unmanned aerial vehicle are reduced, the operation distance of the unmanned aerial vehicle is increased, the operable time and the operable area of the unmanned aerial vehicle are further increased, the number of globally optimized operation paths is reduced, the calculation amount is reduced, and the efficiency of obtaining the optimal operation path is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a method and device for planning an operation path of an unmanned aerial vehicle, an unmanned aerial vehicle and a medium. Background technique [0002] With the gradual maturity of UAV technology, UAVs have been widely used in many fields. For example, UAVs can perform flight operations such as surveying and mapping, plant protection, exploration, and aerial photography according to pre-planned routes. [0003] In the existing technology, UAVs can better plan the operation path for the operation area with regular boundaries to perform plant protection operations, but in actual plant protection operations, the boundaries of the operation area are often complex and irregular polygons, such as , there is a concave point on the boundary, and the two boundaries forming the concave point make the working area concave inward. For the oper...

AI Technical Summary

Problems solved by technology

During this process, the UAV needs to fly along the boundary to bypass the concave point, thus causing the UAV to be in a non-operational state (that is, not spraying potions or fertilizers). The distance that the UAV flies in a non-operational state is called Non-operational distance, which leads to an increase in the non-operational distance of the UAV, and the frequent turning of the UAV will increase the energy consumption of the UAV, which will eventually lead to a reduction in the UAV's operational time and operational area

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