Route planning method, device, equipment, drone and readable storage medium

Abstract

A route planning method, apparatus, equipment, drone, and readable storage medium, wherein the method comprises: obtaining first position information of a plurality of shooting points initially planned for a shooting operation (S101); estimating, based on the first position information, second position information of a surface area corresponding to coverage of an image formed by the drone shooting a target plot at any shooting point (S102); determining, based on the second position information, normal information of the surface area (S103); adjusting the shooting points based on the normal information so that the normal distance between each adjusted shooting point and the corresponding surface area is approximately equal (S104); and planning a shooting operation route of the drone within the target plot based on the plurality of adjusted shooting points (S105). The method can improve the reliability of route planning.

Description

Technical Field

[0001] The present application relates to the technical field of route planning, and in particular to a route planning method, apparatus, device, drone, and readable storage medium. Background Art

[0002] With the rapid development of drone technology, more and more users are using drones for aerial surveying, aerial photography, plant protection, and other operations, greatly improving operational efficiency. Currently, for plots with large undulations, such as continuous terraced fields, mountains, or buildings, a drone's operating area above the plot can be determined using three points, and a route can be planned within this area. However, the operating area determined by these three points is inconsistent with the terrain undulations of the plot, resulting in the planned route not meeting the terrain undulation requirements, affecting the drone's operational effectiveness. Summary of the Invention

[0003] Based on this, the embodiments of the present application provide a route planning method, device, equipment, drone and readable storage medium, aiming to improve the reliability of route planning to improve the operation effect of the drone.

[0004] In a first aspect, an embodiment of the present application provides a route planning method, comprising:

[0005] Acquiring first position information of a plurality of shooting points initially planned for a shooting operation;

[0006] estimating, based on the first position information, second position information of a surface area corresponding to the coverage of an image captured by the drone at any of the shooting points of the target land parcel;

[0007] determining normal information of the surface area according to the second position information;

[0008] adjusting the shooting points according to the normal information so that the normal distances between each of the shooting points and the corresponding surface area are substantially equal;

[0009] According to the adjusted plurality of shooting points, a shooting operation route of the UAV within the target plot is planned.

[0010] In a second aspect, an embodiment of the present application further provides a route planning method, which is applied to a terminal device, the terminal device being communicatively connected to a drone and configured to control the drone, the method comprising:

[0011] determining a first reference point, a second reference point, and a third reference point;

[0012] determining a first operating area according to the first reference point, the second reference point, and the third reference point;

[0013] determining a fourth reference point, and determining a second operating area based on the fourth reference point and a boundary of the first operating area;

[0014] Plan an operating route for the UAV in the first operating area and the second operating area.

[0015] In a third aspect, an embodiment of the present application further provides an operation control method, which is applied to a drone, wherein the drone includes a camera, and the method includes:

[0016] Obtaining a shooting operation route of the UAV, wherein the shooting operation route is planned according to the route planning method described above;

[0017] The drone is controlled to perform a shooting operation according to the shooting operation route.

[0018] In a fourth aspect, an embodiment of the present application further provides a route planning device, the route planning device comprising a memory and a processor;

[0019] The memory is used to store computer programs;

[0020] The processor is configured to execute the computer program and implement the following steps when executing the computer program:

[0021] Acquiring first position information of a plurality of shooting points initially planned for a shooting operation;

[0022] estimating, based on the first position information, second position information of a surface area corresponding to the coverage of an image captured by the drone at any of the shooting points of the target land parcel;

[0023] determining normal information of the surface area according to the second position information;

[0024] adjusting the shooting points according to the normal information so that the normal distances between each of the shooting points and the corresponding surface area are substantially equal;

[0025] According to the adjusted plurality of shooting points, a shooting operation route of the UAV within the target plot is planned.

[0026] In a fifth aspect, an embodiment of the present application further provides a route planning device, which is applied to a terminal device, the terminal device being communicatively connected to a drone and configured to control the drone, the route planning device comprising a memory and a processor;

[0027] The memory is used to store computer programs;

[0028] The processor is configured to execute the computer program and implement the following steps when executing the computer program:

[0029] determining a first reference point, a second reference point, and a third reference point;

[0030] determining a first operating area according to the first reference point, the second reference point, and the third reference point;

[0031] determining a fourth reference point, and determining a second operating area based on the fourth reference point and a boundary of the first operating area;

[0032] Plan an operating route for the UAV in the first operating area and the second operating area.

[0033] In a sixth aspect, an embodiment of the present application further provides an operation control device, which is applied to a drone, the drone including a camera, the drone being communicatively connected to a terminal device, the terminal device being used to control the drone, the operation control device including a memory and a processor;

[0034] The memory is used to store computer programs;

[0035] The processor is configured to execute the computer program and implement the following steps when executing the computer program:

[0036] Obtaining a shooting operation route of the UAV, wherein the shooting operation route is planned according to the route planning method described above;

[0037] The drone is controlled to perform a shooting operation according to the shooting operation route.

[0038] In a seventh aspect, an embodiment of the present application further provides a terminal device, which includes the route planning device as described above.

[0039] In an eighth aspect, an embodiment of the present application further provides a drone, comprising:

[0040] body;

[0041] a photographing device, provided on the machine body, for photographing the target plot;

[0042] A power system, provided on the body, for providing flight power for the UAV;

[0043] The operation control device as described above is disposed in the body and is used to control the drone to perform shooting operations.

[0044] In the ninth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the route planning method as described above, or implements the steps of the operation control method as described above.

[0045] The embodiments of the present application provide a route planning method, apparatus, device, drone and readable storage medium, which obtains the first position information of multiple shooting points initially planned for a shooting operation, and estimates the second position information of the surface area corresponding to the image formed by the drone shooting the target plot at any shooting point based on the first position information, then determines the normal information of the surface area based on the second position information, and adjusts the shooting points based on the normal information so that the normal distance between each adjusted shooting point and the corresponding surface area is approximately equal. Finally, based on the multiple adjusted shooting points, the shooting operation route of the drone within the target plot is planned, so that the planned shooting operation route can meet the terrain undulation requirements of the plot, thereby improving the reliability of route planning and improving the operation effect of the drone.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0048] Figure 1 This is a schematic diagram of a scenario for implementing the route planning method provided in an embodiment of the present application;

[0049] Figure 2 This is a schematic flow chart of the steps of a route planning method provided in an embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of the first operating area and the second operating area in an embodiment of the present application;

[0051] Figure 4 1 is a schematic diagram of the initial shooting operation route in an embodiment of the present application;

[0052] Figure 5 This is a schematic diagram of a scene of the initially planned shooting point in an embodiment of the present application;

[0053] Figure 6is another schematic diagram of a scene of the initially planned shooting point in an embodiment of the present application;

[0054] Figure 7 This is a schematic diagram of a scenario for determining normal information of the ground surface in an embodiment of the present application;

[0055] Figure 8 This is a schematic diagram of a scene for adjusting the shooting point in the implementation of this application;

[0056] Figure 9 This is a schematic diagram of a shooting route obtained based on the adjusted multiple shooting points in the implementation of this application;

[0057] Figure 10 This is a schematic diagram of the first operating area, the second operating area and the connecting area in the implementation of this application;

[0058] Figure 11 This is another schematic diagram of the filming operation route in the implementation of this application;

[0059] Figure 12 This is another schematic diagram of the filming operation route in the implementation of this application;

[0060] Figure 13 This is another schematic diagram of the filming operation route in the implementation of this application;

[0061] Figure 14 This is another schematic diagram of the filming operation route in the implementation of this application;

[0062] Figure 15 This is a schematic flow chart of the steps of another route planning method provided by an embodiment of the present application;

[0063] Figure 16 is a schematic diagram of an operating route in an embodiment of the present application;

[0064] Figure 17 This is a schematic flow chart of the steps of a job control method provided by an embodiment of the present application;

[0065] Figure 18 This is a schematic block diagram of the structure of a route planning device provided in an embodiment of the present application;

[0066] Figure 19 This is a schematic block diagram of another route planning device provided in an embodiment of the present application;

[0067] Figure 20 This is a schematic block diagram of the structure of a job control device provided in an embodiment of the present application;

[0068] Figure 21 This is a schematic block diagram of the structure of a terminal device provided in an embodiment of the present application;

[0069] Figure 22 This is a schematic block diagram of the structure of a drone provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0071] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0072] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0073] With the rapid development of drone technology, more and more users are using drones for aerial surveying, aerial photography, plant protection, and other operations, greatly improving operational efficiency. Currently, for plots with large undulations, such as continuous terraced fields, mountains, or buildings, a drone's operating area above the plot can be determined using three points, and a route can be planned within this area. However, the operating area determined by these three points is inconsistent with the terrain undulations of the plot, resulting in the planned route not meeting the terrain undulation requirements, affecting the drone's operational effectiveness.

[0074] To solve the above problems, the embodiments of the present application provide a route planning method, device, equipment, drone and readable storage medium, which obtains the first position information of multiple shooting points initially planned for the shooting operation, and estimates the second position information of the surface area corresponding to the image formed by the drone shooting the target plot at any shooting point based on the first position information, and then determines the normal information of the surface area according to the second position information, and adjusts the shooting point based on the normal information so that the normal distance between each adjusted shooting point and the corresponding surface area is approximately equal. Finally, based on the adjusted multiple shooting points, the shooting operation route of the drone within the target plot is planned, so that the planned shooting operation route can meet the terrain undulation requirements of the plot, thereby improving the reliability of route planning and improving the operation effect of the drone.

[0075] See also Figure 1 , Figure 1This is a schematic diagram of a scenario for implementing the route planning method provided in the embodiment of the present application. Figure 1 As shown, the scene includes a drone 100 and a terminal device 200, the drone 100 is in communication with the terminal device 200, and the terminal device 200 is used to control the drone 100. The drone 100 includes a body 110, a power system 120 provided on the body 110, a shooting device 130 and a control system ( Figure 1 (not shown), the power system 120 is used to provide flight power for the drone 100, and the shooting device 130 is used to capture images.

[0076] The power system 120 may include one or more propellers 121, one or more motors 122 corresponding to the propellers, and one or more electronic speed controllers (ESCs). The motors 122 are connected between the ESCs and the propellers 121. The motors 122 and propellers 121 are mounted on the body 110 of the drone 100. The ESCs receive drive signals from the control system and provide current to the motors 122 based on the drive signals to control the speed of the motors 122. The motors 122 drive the propellers 121, thereby providing power for the drone 100's flight. This power enables the drone 100 to achieve one or more degrees of freedom. In some embodiments, the drone 100 can rotate about one or more rotational axes. For example, these rotational axes may include roll, yaw, and pitch. It should be understood that the motors 122 may be either DC or AC motors. Furthermore, the motors 122 may be either brushless or brushed motors.

[0077] Among them, the control system may include a controller and a sensing system. The sensing system is used to measure the attitude information of the drone, that is, the position information and state information of the drone 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity. The sensing system may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a visual sensor, a global navigation satellite system and a barometer. For example, the global navigation satellite system may be a global positioning system (GPS). The controller is used to control the movement of the drone 100. For example, the movement of the drone 100 may be controlled according to the attitude information measured by the sensing system. It should be understood that the controller may control the drone 100 according to pre-programmed instructions.

[0078] The terminal device 200 includes a display device 210, which displays images transmitted by the mobile platform 100 for viewing by the user. It should be noted that the display device 210 includes a display screen provided on the terminal device 200 or a display independent of the terminal device 200. The display independent of the terminal device 200 may include a mobile phone, a tablet computer, a personal computer, or other electronic device with a display screen. The display screen may include an LED display screen, an OLED display screen, an LCD display screen, and the like.

[0079] In one embodiment, the terminal device 200 is also used to obtain the first position information of multiple shooting points initially planned for the shooting operation; based on the first position information, estimate the second position information of the surface area corresponding to the image formed by the drone 100 shooting the target plot at any shooting point; determine the normal information of the surface area based on the second position information; adjust the shooting point based on the normal information so that the normal distance between each adjusted shooting point and the corresponding surface area is approximately equal; and plan the shooting operation route of the drone 100 within the target plot based on the multiple adjusted shooting points.

[0080] In one embodiment, after planning a shooting route, the terminal device 200 transmits the route to the drone 100. The controller in the drone 100 is further configured to obtain the shooting route of the drone 100 and control the drone 100 to perform shooting operations according to the route. When the drone 100 reaches a shooting point in the shooting route, the normal vector of the ground surface corresponding to the shooting point is obtained, and based on the normal vector, the shooting direction of the camera 130 at the shooting point is adjusted so that the adjusted shooting direction of the camera 130 is approximately perpendicular to the ground surface corresponding to the shooting point.

[0081] The drone 100 may include a rotary-wing drone, such as a quad-rotor drone, a hexacopter drone, or an octo-rotor drone, or a fixed-wing drone, or a combination of rotary-wing and fixed-wing drones, without limitation. The terminal device 200 may include, but is not limited to, a smartphone / mobile phone, a tablet computer, a personal digital assistant (PDA), a desktop computer, a media content player, a video game station / system, a virtual reality system, an augmented reality system, a wearable device (e.g., a watch, glasses, gloves, headwear (e.g., a hat, a helmet, a virtual reality headset, an augmented reality headset, a head-mounted device (HMD), a headband), a pendant, an armband, a leg band, shoes, a vest), a gesture recognition device, a microphone, any electronic device capable of providing or rendering image data, or any other type of device. The terminal device 200 may be a handheld terminal or a portable terminal. The terminal device 200 may be carried by a human user. In some cases, the terminal device 200 may be away from the human user, and the user may control the terminal device 200 using wireless and / or wired communication.

[0082] The following will be combined Figure 1 The scenario in the present application provides a detailed introduction to the route planning method provided by the embodiment of the present application. Figure 1 The scenarios are only used to explain the route planning method provided in the embodiments of the present application, but do not constitute a limitation on the application scenarios of the route planning method provided in the embodiments of the present application.

[0083] See also Figure 2 , Figure 2 This is a schematic flowchart of the steps of a route planning method provided in an embodiment of the present application.

[0084] like Figure 2 As shown, the route planning method includes steps S101 to S105.

[0085] Step S101: Acquire first position information of a plurality of shooting points initially planned for a shooting operation.

[0086] In one embodiment, an initial photography operation route of a drone initially planned within a target plot is obtained; multiple photography points are determined from the initial photography operation route, and first position information of the multiple photography points is obtained. The initial photography operation route includes multiple initial main route segments, and the photography points in the initial main route segments are spaced equally apart. The number of photography points determined from each initial main route segment may be the same or different, and the spacing between the photography points may be set based on actual conditions, which is not specifically limited in this embodiment of the application.

[0087] Exemplarily, the method for obtaining the initial shooting operation route can be: determining a first reference point, a second reference point, and a third reference point; determining the first operation area of the target plot based on the first reference point, the second reference point, and the third reference point; determining a fourth reference point, and determining the second operation area of the target plot based on the fourth reference point and the boundary of the first operation area; initially planning the route of the drone within the first operation area and the second operation area to obtain the initial shooting operation route of the drone. Among them, the reference line between the first reference point and the second reference point is a boundary line of the first operation area, the third reference point is located on the other boundary line of the second operation area, and the third reference point is not a boundary point. One operation area can be accurately determined by three reference points, and another operation area can be determined by one operation area and one reference point, which makes it easy for users to determine the operation area in a plot with a slope.

[0088] Exemplarily, a route planning page is displayed, wherein the route planning page displays a reference point setting control and a target plot; the UAV is controlled to fly over the target plot, and in response to the user's triggering operation of the reference point setting control, the current position point of the UAV is determined as the first reference point; the UAV is continued to be controlled to fly over the target plot, and in response to the user's triggering operation of the reference point setting control, the current position point of the UAV is determined as the second reference point; the UAV is continued to be controlled to fly over the target plot, and in response to the user's triggering operation of the reference point setting control, the current position point of the UAV is determined as the third reference point.

[0089] Exemplarily, the first operating area can be determined by: using the reference line between the first reference point and the second reference point as the first boundary, and determining a second boundary parallel to the first boundary and containing the third reference point; determining a first expansion point corresponding to the first reference point and a second expansion point corresponding to the second reference point on the second boundary; and determining the area formed by the first reference point, the second reference point, the first expansion point, and the second expansion point as the first operating area. The expansion distance between the first expansion point or the second expansion point and the third reference point can be set by the user and is not specifically limited in this embodiment of the present application. The operating area can be accurately determined using the three reference points.

[0090] Exemplarily, the second operating area can be determined by: determining a third boundary parallel to the second boundary and containing the fourth reference point; determining the area between the second and third boundaries as the second operating area; or, determining a third expansion point corresponding to the first expansion point and a fourth expansion point corresponding to the second expansion point on the third boundary; and determining the area enclosed by the second boundary, the third expansion point, and the fourth expansion point as the second operating area. The second operating area can be either an open or closed area. Using one operating area and one reference point, another operating area can be accurately determined.

[0091] For example, Figure 3 As shown, the first reference point 11, the second reference point 12 and the third reference point 13 can form a triangular working area. The first expansion point 131 corresponding to the first reference point 11 can be obtained by expanding a distance from the third reference point 13 toward the first reference point 11 along the boundary where the third reference point 13 is located. The second expansion point 132 corresponding to the second reference point 12 can be obtained by expanding a distance from the third reference point 13 toward the second reference point 12 along the boundary where the third reference point 13 is located. Therefore, the area enclosed by the first reference point 11, the second reference point 12, the first expansion point 131 and the second expansion point 132 is the first working area A.

[0092] like Figure 3 As shown, after determining the first operating area A, the user controls the drone to continue flying through the control terminal. When a trigger operation of the user on the reference point setting control is detected, the current position of the drone is determined as the fourth reference point 14. Then, a third boundary is determined that is parallel to the second boundary between the first expansion point 131 and the second expansion point 132 and includes the fourth reference point 14. By expanding a distance from the fourth reference point 14 toward the first expansion point 131 along the boundary where the fourth reference point 40 is located, a third expansion point 141 corresponding to the first expansion point 131 can be obtained. By expanding a distance from the fourth reference point 14 toward the second expansion point 132 along the boundary where the fourth reference point 14 is located, a fourth expansion point 142 corresponding to the second expansion point 132 can be obtained. Therefore, the area enclosed by the first expansion point 131, the second expansion point 132, the third expansion point 141, and the fourth expansion point 142 is the second operating area B.

[0093] In one embodiment, the route of the drone is initially planned within the first and second operating areas to obtain the initial shooting route of the drone. The method may be as follows: obtaining a first side length of the connecting edge between the first and second operating areas; obtaining a second side length of a target boundary in the second operating area, where the target boundary is opposite the connecting edge; determining the ratio of the first side length to the second side length to obtain a side length ratio of the connecting edge to the target boundary; if the side length ratio is greater than or equal to a preset side length ratio, the route of the drone is initially planned for the first and second operating areas as a whole to obtain the initial shooting route of the drone. The preset side length ratio can be set based on actual conditions and is not specifically limited in the present embodiment. For example, the preset side length ratio is 0.8.

[0094] For example, Figure 4As shown, the connecting edge is located between the first expansion point 131 and the second expansion point 132, and the target boundary is located between the third expansion point 141 and the fourth expansion point 142. The distance between the first expansion point 131 and the second expansion point 132 is 6 meters, that is, the first side length is 6 meters, and the distance between the third expansion point 141 and the fourth expansion point 142 is 7 meters, that is, the second side length is 7 meters. The side length ratio is 0.86, which is greater than the preset side length ratio of 0.8. Therefore, the first operation area A and the second operation area B are taken as a whole to perform initial planning of the UAV's route, and the following is obtained: Figure 4 The initial shooting operation route includes the starting waypoint 15 and the ending waypoint 16. For example, Figure 5 As shown, the initial shooting operation route including the starting waypoint 15 and the ending waypoint 16 includes 15 initial main route segments, and each initial main route segment may include 8 shooting points.

[0095] In one embodiment, a first reference point, a second reference point, and a third reference point are determined; a first operation area of a target plot is determined based on the first reference point, the second reference point, and the third reference point; a fourth reference point is determined, and a second operation area of the target plot is determined based on the fourth reference point and the boundary of the first operation area; multiple shooting points are initially planned within the first operation area and the second operation area, and first position information of each shooting point is obtained. Figure 6 As shown, 120 shooting points 17 are initially planned in the first working area A and the second working area B.

[0096] Step S102: estimating second position information of a surface area corresponding to an image captured by the drone at any of the shooting points of the target land parcel based on the first position information.

[0097] Exemplarily, the first location information includes the longitude, latitude, and altitude information of the shooting point, where the altitude information includes both absolute and relative altitudes. Based on the absolute and relative altitudes of the shooting point, a target altitude of the surface area corresponding to the coverage of the image formed by the drone at the shooting point of the target land parcel can be estimated. The altitude information in the first location information of the shooting point is then replaced with the target altitude to obtain second location information of the surface area corresponding to the coverage of the image formed by the shooting point of the target land parcel. The longitude and latitude in the first location information are the same as the longitude and latitude in the second location information.

[0098] In one embodiment, a digital surface model (DSM) of a target parcel is obtained; and second position information of the surface area corresponding to an image captured by a drone at any point of the target parcel is estimated based on the first position information and the DSM. The DSM includes height information of vegetation, buildings, trees, and the like within the target parcel.

[0099] Exemplarily, based on the longitude and latitude in the first location information and the digital surface model, a target height of the surface area corresponding to the image captured by the drone at the shooting point of the target land parcel is determined; the height information in the first location information of the shooting point is replaced with the target height to obtain second location information of the surface area corresponding to the image captured by the shooting point of the target land parcel. Based on the longitude and latitude in the first location information, the height information corresponding to the longitude and latitude can be queried from the digital surface model, and the queried height information is determined as the target height of the surface area.

[0100] Exemplarily, based on the relative height in the first position information and the viewing angle of the shooting device carried by the drone, the theoretical area of the surface area covered by the image formed by the drone shooting the target plot at the corresponding shooting point is determined; based on the longitude and latitude in the first position information and the theoretical area, the longitude and latitude range of the surface area is determined; multiple target longitudes and latitudes are determined from the longitude and latitude range, and a preset longitude and latitude are separated from two adjacent target longitudes and latitudes; the height information corresponding to each target longitude and latitude is obtained from the digital surface model; the target longitude and latitude and the height information corresponding to the longitude and latitude are determined as the position information of a ground feature point, so that the position information of multiple ground feature points located in the surface area can be obtained.

[0101] Step S103: Determine normal information of the surface area according to the second position information.

[0102] Exemplarily, the second position information includes position information of multiple ground feature points located within a surface region, and a plane equation of the surface region is determined based on the position information of the multiple ground feature points located within the surface region; and normal information of the surface region is determined based on the plane equation of the surface region. Determining the normal information of the surface region based on the plane equation of the surface region may include determining a normal vector of the plane equation of the surface region, and determining the normal vector of the plane equation as the normal information of the surface region.

[0103] Exemplarily, the first coefficient on the X-axis, the second coefficient on the Y-axis, and the third coefficient on the Z-axis of the plane equation of the surface area are obtained; based on the first coefficient, the second coefficient, and the third coefficient, the normal vector of the plane equation is determined. Among them, each coefficient of the normal vector corresponds to the coefficient of each axis of the plane equation, and they are linearly related. For example, the plane equation is z=ax+by+d, a is the first coefficient of the plane equation on the X-axis, b is the second coefficient on the Y-axis, the third coefficient on the Z-axis is 1, and d is the bias term. Therefore, the normal vector of the plane equation is

[0104] In one embodiment, for the ground feature point P corresponding to the second position information n , get the ground point P n The second position information of the adjacent target feature point; according to the feature point P n The second position information of the target object point and the second position information of the target object point are used to determine the object point P n The normal vector of the straight line formed with the target feature point; according to the feature point P n The normal vector of the straight line formed with the target ground feature point determines the normal information of the surface area. Among them, the target ground feature point includes the ground feature point P n The first adjacent feature point P n-1 , and / or, with the feature point P n The adjacent second feature point P n+1 , feature point P n The normal vector of the line formed with the target object point includes the object point P n With the first feature point P n-1 The first normal vector of the formed line, and / or the feature point P n and the second feature point P n+1 The second normal vector of the formed line.

[0105] For example, according to the feature point P n The second position information and the first feature point P n-1 The second position information of the first straight line is used to determine the first straight line equation and the normal vector of the first straight line equation, and the normal vector of the first straight line equation is determined as the ground feature point P n With the first feature point P n-1 The first normal vector of the straight line formed; and according to the feature point P n The second position information and the second feature point P n+1 The second position information of the second straight line is used to determine the second straight line equation and the normal vector of the second straight line equation, and the normal vector of the second straight line equation is determined as the ground feature point P n and the second feature point P n+1 The second normal vector of the formed line.

[0106] For example, the feature point P n With the first feature point P n-1 The first normal vector of the straight line formed is determined as the normal information of the surface area. Alternatively, the ground feature point P n and the second feature point P n+1 The second normal vector of the formed straight line is determined as the normal information of the surface area. Alternatively, a first angle between the first normal vector and the horizontal plane and a second angle between the second normal vector and the horizontal plane are determined; based on the first and second angles, a third angle between the midline of the angle between the first and second normal vectors and the horizontal plane is determined, that is, the difference between the second angle and the first angle is determined, and the difference between the second angle and the first angle is determined as the third angle; based on the third angle, the normal information of the surface area is determined.

[0107] Exemplarily, a direction vector corresponding to the horizontal plane is obtained; a first angle between the first normal vector and the horizontal plane is determined based on the direction vector corresponding to the horizontal plane and the first normal vector; and a second angle between the second normal vector and the horizontal plane is determined based on the direction vector corresponding to the horizontal plane and the second normal vector.

[0108] like Figure 7 As shown, shooting point C n and the feature point P located in the target plot 22 n Corresponding to the ground feature point P n The first adjacent feature point P n-1 The first normal vector of the formed straight line is Feature point P n and the second feature point P n+1 The second normal vector of the formed straight line is First normal vector The first angle between the horizontal plane 21 is α, and the second normal vector The second angle between the horizontal plane 21 is β, and the first normal vector With the second normal vector The third angle between the midline of the angle and the horizontal plane is θ, then θ=β-α, then the normal information of the surface area is

[0109] Step S104: adjusting the shooting points according to the normal information so that the normal distances between each of the shooting points and the corresponding surface area are substantially equal.

[0110] Exemplarily, the displacement of the second position information corresponding to the shooting point is determined based on the normal information of the surface area and a preset distance; the target position information is determined based on the second position information corresponding to the shooting point and the displacement, and the target shooting point corresponding to the target position information is determined as the adjusted shooting point. The displacement includes a moving direction and a moving distance, the moving direction being the normal direction indicated by the normal information, and the moving distance being equal to the preset distance. The preset distance can be set by the user and is not specifically limited in this embodiment of the present application.

[0111] like Figure 8 As shown, shooting point C n and the feature point P located in the target plot 22 n Correspondingly, through the ground point P n Normal information at And the preset distance, we can know the ground point P n The corresponding second position information is then used to calculate the displacement of the feature point P. n The corresponding second position information and the movement displacement can determine the target position information, and the target shooting point corresponding to the target position information is D n Therefore, the target shooting point D n Determine the adjusted shooting point, target shooting point D n and feature point P n The normal distance between the two points is substantially equal to the preset distance. By adjusting the shooting points in a similar manner, the normal distance between each shooting point and the corresponding surface area after adjustment can be substantially equal.

[0112] Step S105 : planning a shooting route of the UAV within the target plot according to the adjusted plurality of shooting points.

[0113] For example, based on the adjusted multiple shooting points, the planned shooting operation route is as follows: Figure 9 As shown, the normal distances between each shooting point 24 on the shooting operation route 23 and the corresponding surface area of the target land parcel 22 are substantially equal.

[0114] In one embodiment, the target plot includes at least a first operating area, a second operating area, and a connecting area for connecting the first and second operating areas, wherein the connecting area is a curved area, and both the first and second operating areas are inclined surfaces. The first operating area is a closed area, and the second operating area is an open area, or both the first and second operating areas are closed areas, and the length ratio of the connecting edge between the first and second operating areas to the target boundary of the second operating area is greater than or equal to a predetermined length ratio, and the connecting edge is in a relative relationship with the target boundary.

[0115] For example, Figure 10 As shown, the target plot includes a first operating area A formed by reference points 31, 32, 33 and 34, a second operating area B formed by reference points 35, 36, 37 and 38, and a connecting area C formed by reference points 33, 34, 35 and 36. The area between the center line 39 in the connecting area C and the boundary between reference points 33 and 34 is part of the first operating area A, and the area between the center line 39 in the connecting area C and the boundary between reference points 35 and 36 is part of the second operating area B.

[0116] In one embodiment, the filming operation route includes multiple main route segments, each of which is a transverse route segment, and the absolute heights of two adjacent filming points on the main route segment are different. The main route segments include a first route segment located in a first operation area, a second route segment located in a second operation area, and a connecting route segment located in a connecting area. The connecting route segment is used to connect the first route segment and the second route segment, and the connecting route segment is an arc-shaped route segment. By planning a transverse filming operation route and planning the connecting route segment within the connecting area, the efficiency and effectiveness of the drone can be improved when operating according to the transverse filming operation route.

[0117] For example, Figure 11 As shown, the shooting operation route includes 11 horizontal main route segments between the starting waypoint 41 and the ending waypoint 42. The route segment between the starting waypoint 41 and the waypoint 43 is the first route segment located in the first operation area A, the route segment between the waypoint 44 and the waypoint 45 is the second route segment located in the second operation area B, and the route segment between the waypoint 43 and the waypoint 44 is the connecting route segment located in the connecting area C, and the connecting route segment is an arc-shaped route segment.

[0118] In one embodiment, the interval between two adjacent shooting points on a connecting route segment is determined based on the angle between the first operating area and the second operating area and a preset overlap ratio. The preset overlap ratio can be set by the user and is not specifically limited in this embodiment of the application. The angle between the first operating area and the second operating area and the preset overlap ratio can accurately determine the interval between two adjacent shooting points on a connecting route segment. This helps ensure the overlap ratio between shooting points when the drone performs shooting operations based on the shooting route, thereby improving the image stitching effect.

[0119] For example, the angle between the first and second operating areas is obtained, and the theoretical size of the surface area covered by the image formed by the drone capturing the target plot at the capture point is obtained; based on the angle, the theoretical size, and a preset turning radius, the target angle corresponding to the image formed by the drone capturing the target plot at the capture point is determined; and based on the target angle, the flight speed of the drone on the connecting route segment, and the preset turning radius, the interval between photographs of two adjacent capture points is determined. The preset turning radius can be set by the user and is not specifically limited in this embodiment of the application.

[0120] For example, in, is the target angle corresponding to the image formed by the UAV photographing the target plot at the shooting point, L is the theoretical size of the surface area covered by the image formed by the UAV photographing the target plot at the shooting point, R is the preset turning radius, N is the number of shots taken by the UAV in the connection area, γ is the angle between the first operating area and the second operating area, k is the preset overlap rate, v is the flight speed of the UAV on the connection route segment, and ΔT is the interval between photos.

[0121] In one embodiment, the plurality of main route segments are longitudinal route segments, and the absolute heights of the shooting points on two adjacent main route segments are different. The plurality of main route segments include a first main route segment located in a first operating area, a second main route segment located in a second operating area, and a third main route segment located in a connecting area. The first, second, and third main route segments are parallel to each other, and the third main route segment includes a plurality of main route segments. By planning a longitudinal shooting operation route, route planning is not restricted by the length of the edges of each operating area, making it convenient to plan the shooting operation route.

[0122] For example, Figure 12 As shown, the shooting operation route includes 13 longitudinal main route segments between the starting waypoint 45 and the ending waypoint 46. The five longitudinal main route segments between the starting waypoint 45 and the waypoint 47 are the first part of the main route segments located in the first operation area A, the five longitudinal main route segments between the waypoint 48 and the ending waypoint 46 are the second part of the main route segments located in the second operation area B, and the three longitudinal main route segments between the waypoint 47 and the waypoint 48 are the third part of the main route segments located in the connection area.

[0123] In one embodiment, the distance between two adjacent main route segments in the third portion of the main route segments is determined based on the angle between the first and second operating areas and a preset overlap ratio. For example, the angle between the first and second operating areas is obtained, and the theoretical size of the surface area covered by the image formed by the drone capturing the target plot at the capture point is obtained; based on the angle, the theoretical size, and a preset turning radius, the target angle corresponding to the image formed by the drone capturing the target plot at the capture point is determined; based on the target angle and the angle between the first and second operating areas, the number of captures is determined; and based on the number of captures and the size information of the connection area, the distance between two adjacent main route segments in the third portion of the main route segments is determined.

[0124] In one embodiment, the first and second main route segments are parallel to each other, the end point of the first main route segment is connected to the start point of the third main route segment, and the end point of the third main route segment is connected to the start point of the second main route segment. The third main route segment includes an arc-shaped main route segment. The interval distance and interval between two adjacent shooting points on the main route segment in the third main route segment are determined based on the angle between the first and second operating areas and a preset overlap ratio.

[0125] For example, Figure 13 As shown, the shooting operation route includes 13 longitudinal main route segments between the starting waypoint 45 and the ending waypoint 46. The 6 longitudinal main route segments between the starting waypoint 45 and the waypoint 47 are the first part of the main route segments located in the first operation area A, the 6 longitudinal main route segments between the waypoint 48 and the ending waypoint 46 are the second part of the main route segments located in the second operation area B, and the arc-shaped longitudinal main route segment between the waypoint 47 and the waypoint 48 is the third part of the main route segment located in the connection area.

[0126] In one embodiment, the shooting operation route includes a first transverse main route segment and a second longitudinal main route segment. Figure 14 As shown, the first main route segment includes the horizontal route segment between waypoint 48 and the end waypoint 46, and the first main route segment is located in the second operating area B. The second main route segment includes 6 longitudinal main route segments between the starting waypoint 45 and the waypoint 47, and the second main route segment is located in the first operating area A. The arc-shaped longitudinal main route segment between waypoint 47 and waypoint 48 is a connecting route segment located in the connecting area.

[0127] The route planning method provided in the above embodiment obtains the first position information of multiple shooting points initially planned for the shooting operation, and based on the first position information, estimates the second position information of the surface area corresponding to the image covered by the image formed by the drone shooting the target plot at any shooting point, and then determines the normal information of the surface area according to the second position information, and adjusts the shooting points based on the normal information so that the normal distance between each adjusted shooting point and the corresponding surface area is approximately equal. Finally, based on the adjusted multiple shooting points, the shooting operation route of the drone in the target plot is planned, so that the planned shooting operation route can meet the terrain undulation requirements of the plot, thereby improving the reliability of route planning and improving the operation effect of the drone.

[0128] See also Figure 15 , Figure 15 This is a flowchart illustrating the steps of another route planning method provided in an embodiment of the present application.

[0129] like Figure 15 As shown, the route planning method includes steps S201 to S204.

[0130] Step S201: Determine a first reference point, a second reference point, and a third reference point.

[0131] Exemplarily, a route planning page is displayed, wherein the route planning page displays a reference point setting control and a target plot; the UAV is controlled to fly over the target plot, and in response to the user's triggering operation of the reference point setting control, the current position of the UAV is determined as the first reference point; the UAV is continued to be controlled to fly over the target plot, and in response to the user's triggering operation of the reference point setting control, the current position of the UAV is determined as the second reference point; the UAV is continued to be controlled to fly over the target plot, and in response to the user's triggering operation of the reference point setting control, the current position of the UAV is determined as the third reference point.

[0132] Step S202: Determine a first operating area according to the first reference point, the second reference point, and the third reference point.

[0133] For example, a reference line between a first reference point and a second reference point is used as the first boundary, and a second boundary is determined that is parallel to the first boundary and includes a third reference point. A first expansion point corresponding to the first reference point and a second expansion point corresponding to the second reference point are determined on the second boundary. The area enclosed by the first reference point, the second reference point, the first expansion point, and the second expansion point is determined as the first operating area. The expansion distance between the first expansion point or the second expansion point and the third reference point can be set by the user and is not specifically limited in this embodiment of the present application. The operating area can be accurately determined using these three reference points.

[0134] For example, Figure 3 As shown, the first reference point 11, the second reference point 12 and the third reference point 13 can form a triangular working area. The first expansion point 131 corresponding to the first reference point 11 can be obtained by expanding a distance from the third reference point 13 toward the first reference point 11 along the boundary where the third reference point 13 is located. The second expansion point 132 corresponding to the second reference point 12 can be obtained by expanding a distance from the third reference point 13 toward the second reference point 12 along the boundary where the third reference point 13 is located. Therefore, the area enclosed by the first reference point 11, the second reference point 12, the first expansion point 131 and the second expansion point 132 is the first working area A.

[0135] Step S203: Determine a fourth reference point, and determine a second operating area based on the fourth reference point and the boundary of the first operating area.

[0136] For example, a third boundary parallel to the second boundary and containing the fourth reference point is determined; the area between the second and third boundaries is determined as the second operating area. Alternatively, a third expansion point corresponding to the first expansion point and a fourth expansion point corresponding to the second expansion point are determined on the third boundary, and the area enclosed by the second boundary, the third expansion point, and the fourth expansion point is determined as the second operating area. The second operating area can be either an open or closed area. Using one operating area and one reference point, another operating area can be accurately determined.

[0137] For example, Figure 3 As shown, after determining the first operating area A, the user controls the drone to continue flying through the control terminal. When a trigger operation of the user on the reference point setting control is detected, the current position of the drone is determined as the fourth reference point 14. Then, a third boundary is determined that is parallel to the second boundary between the first expansion point 131 and the second expansion point 132 and includes the fourth reference point 14. By expanding a distance from the fourth reference point 14 toward the first expansion point 131 along the boundary where the fourth reference point 40 is located, a third expansion point 141 corresponding to the first expansion point 131 can be obtained. By expanding a distance from the fourth reference point 14 toward the second expansion point 132 along the boundary where the fourth reference point 14 is located, a fourth expansion point 142 corresponding to the second expansion point 132 can be obtained. Therefore, the area enclosed by the first expansion point 131, the second expansion point 132, the third expansion point 141, and the fourth expansion point 142 is the second operating area B.

[0138] Step S204: planning an operating route of the UAV in the first operating area and the second operating area.

[0139] The first operating area is a closed area, the second operating area is an open area, or both the first operating area and the second operating area are closed areas.

[0140] In one embodiment, the first side length of the connecting edge between the first operating area and the second operating area is obtained; the second side length of the target boundary in the second operating area is obtained, and the target boundary is opposite to the connecting edge; the ratio of the first side length to the second side length is determined to obtain the side length ratio of the connecting edge to the target boundary; if the side length ratio is greater than or equal to the preset side length ratio, the first operating area and the second operating area are taken as a whole for route planning to obtain the operating route of the drone; if the side length ratio is less than the preset side length ratio, the first operating area and the second operating area are separately route planned to obtain the operating route of the drone. Among them, the preset side length ratio can be set based on actual conditions, and the embodiment of the present application does not make specific restrictions on this. By jointly planning the routes of the first operating area and the second operating area when the side length ratio between the first operating area and the second operating area meets the requirements, the operating route obtained by appropriate planning can be more optimal, so that when the drone operates according to the operating route obtained by the joint planning, the operating efficiency can be improved.

[0141] In one embodiment, after determining the second working area, the user can continue to determine the remaining working areas using the second working area and the new reference point. This application does not specifically limit the number of working areas. Figure 16 As shown, reference point 51, reference point 52, reference point 53 and reference point 54 together form a first operating area A, reference point 53, reference point 54, reference point 55 and reference point 56 together form a second operating area B, reference point 55, reference point 56, reference point 57 and reference point 58 together form a third operating area D, and the side length ratio between the first reference edge 61, the second reference edge 62 and the third reference edge 63 is greater than or equal to the preset side length ratio, then the first operating area A, the second operating area B and the third operating area D can be planned as a whole, and the operating route between the starting waypoint 64 and the ending waypoint 65 can be obtained.

[0142] In one embodiment, the operating route includes multiple main route segments, all of which are transverse route segments. The main route segments include a first route segment, a second route segment, and a connecting route segment. The first route segment is located in the first operating area, the second route segment is located in the second operating area, and the connecting route segment is located in the connecting area between the first operating area and the second operating area. The connecting route segment is used to connect the first route segment and the second route segment, and the connecting route segment is an arc-shaped route segment. By planning a transverse operating route and planning a connecting route segment in the connecting area, the operating efficiency and effect of the drone can be improved when operating according to the transverse operating route.

[0143] In one embodiment, the interval between two adjacent shooting points on a connecting route segment is determined based on the angle between the first operating area and the second operating area and a preset overlap ratio. The preset overlap ratio can be set by the user and is not specifically limited in this embodiment of the application. The angle between the first operating area and the second operating area and the preset overlap ratio can accurately determine the interval between two adjacent shooting points on a connecting route segment. This helps ensure the overlap ratio between shooting points when the drone performs shooting operations based on the shooting route, thereby improving the image stitching effect.

[0144] In one embodiment, the drone includes a spraying device that does not spray during the connecting route segment. When the drone performs a spraying operation along the operating route, the spraying device does not spray during the connecting route segment, but performs spraying during the first and second route segments, thereby improving the efficiency and effectiveness of the spraying operation.

[0145] In one embodiment, when a drone performs a spraying operation along the operational route, the spraying speed of the drone's spraying device during the connecting route segment is determined based on the angle between the first and second operational areas. The spraying speed and the angle are positively correlated, meaning that the larger the angle between the first and second operational areas, the faster the spraying speed, while the smaller the angle between the first and second operational areas, the slower the spraying speed. By adaptively determining the spraying speed of the spraying device based on the angle between the first and second operational areas, the efficiency and effectiveness of the spraying operation can be improved.

[0146] In one embodiment, the plurality of main route segments are longitudinal route segments, and the absolute heights of the shooting points on two adjacent main route segments are different. The plurality of main route segments include a first main route segment located in a first operating area, a second main route segment located in a second operating area, and a third main route segment located in a connecting area. The first, second, and third main route segments are parallel to each other, and the third main route segment includes a plurality of main route segments. By planning a longitudinal shooting operation route, route planning is not restricted by the length of the edges of each operating area, making it convenient to plan the shooting operation route.

[0147] In one embodiment, the distance between two adjacent main route segments in the third portion of the main route segments is determined based on the angle between the first and second operating areas and a preset overlap ratio. For example, the angle between the first and second operating areas is obtained, and the theoretical size of the surface area covered by the image formed by the drone capturing the target plot at the capture point is obtained; based on the angle, the theoretical size, and a preset turning radius, the target angle corresponding to the image formed by the drone capturing the target plot at the capture point is determined; based on the target angle and the angle between the first and second operating areas, the number of captures is determined; and based on the number of captures and the size information of the connection area, the distance between two adjacent main route segments in the third portion of the main route segments is determined.

[0148] In one embodiment, the first and second main route segments are parallel to each other, the end point of the first main route segment is connected to the start point of the third main route segment, and the end point of the third main route segment is connected to the start point of the second main route segment. The third main route segment includes an arc-shaped main route segment. The interval distance and interval between two adjacent shooting points on the main route segment in the third main route segment are determined based on the angle between the first and second operating areas and a preset overlap ratio.

[0149] In one embodiment, the operating route includes a first transverse main route segment and a second longitudinal main route segment, the first main route segment is located in the first operating area, and the second main route segment is located in the second operating area, or the first main route segment is located in the second operating area, and the second main route segment is located in the first operating area. For example, Figure 14 As shown, the first main route segment includes the horizontal route segment between waypoint 48 and the end waypoint 46, and the first main route segment is located in the second operating area B. The second main route segment includes 6 longitudinal main route segments between the starting waypoint 45 and the waypoint 47, and the second main route segment is located in the first operating area A. The arc-shaped longitudinal main route segment between waypoint 47 and waypoint 48 is a connecting route segment located in the connecting area.

[0150] The route planning method provided in the above embodiment can determine an operation area by determining three reference points, and then determine another operation area by determining the operation area and another reference point, and plan the operation route of the drone within all the determined operation areas. This can improve the convenience and accuracy of route planning, so that when the drone performs operations according to the planned operation route, it can improve operation efficiency and operation results.

[0151] See also Figure 17 , Figure 17 1 is a flowchart illustrating the steps of an operation control method provided in an embodiment of the present application. The operation control method is applied to a drone.

[0152] like Figure 17 As shown, the route planning method includes steps S301 to S302.

[0153] Step S301: Obtain the shooting operation route of the UAV.

[0154] The terminal device is communicatively connected to the drone, and the terminal device obtains first position information of multiple shooting points initially planned for the shooting operation; based on the first position information, the terminal device estimates second position information of the surface area corresponding to the image formed by the drone shooting the target plot at any shooting point; based on the second position information, the normal information of the surface area is determined; based on the normal information, the shooting points are adjusted so that the normal distance between each adjusted shooting point and the corresponding surface area is approximately equal; based on the multiple adjusted shooting points, the terminal device plans a shooting operation route of the drone within the target plot; the shooting operation route is sent to the drone, and the drone receives the shooting operation route sent by the terminal device.

[0155] Step S302: Control the UAV to perform the shooting operation according to the shooting operation route.

[0156] Since the normal distances between the shooting points in the shooting operation route and the corresponding surface areas are roughly equal, when the UAV performs the shooting operation according to the shooting operation route, it can ensure that the resolution of the images collected by the shooting device is roughly the same, which facilitates the subsequent stitching of images with roughly the same resolution and can improve the effect of the shooting operation.

[0157] In one embodiment, when a drone reaches a shooting point in a shooting route, a normal vector of the ground surface area corresponding to the shooting point is obtained; based on the normal vector, the shooting direction of the camera at the shooting point is adjusted so that the adjusted shooting direction of the camera is approximately perpendicular to the ground surface area corresponding to the shooting point. By using the normal vector to adjust the shooting direction of the camera at the shooting point so that the adjusted shooting direction of the camera is approximately perpendicular to the ground surface area corresponding to the shooting point, the image captured by the camera is a top-down image, which facilitates the subsequent stitching of pitch and roll images with the same resolution, thereby improving the quality of the shooting operation.

[0158] In one embodiment, the shooting direction of the camera at the shooting point can be adjusted based on the normal vector by determining the target posture of the gimbal according to the normal vector, and adjusting the gimbal based on the target posture. Since the camera is mounted on the gimbal, the shooting direction of the camera can change as the posture of the gimbal changes. Therefore, the shooting direction of the camera can be adjusted by adjusting the posture of the gimbal. The drone stores a mapping relationship between the normal vector and the posture of the gimbal. The target posture of the gimbal at the shooting point can be determined based on this mapping relationship and the normal vector of the surface area corresponding to the shooting point. The mapping relationship between the normal vector and the posture of the gimbal can be set based on actual conditions, and this embodiment of the application does not specifically limit this.

[0159] The route planning method provided in the above embodiment obtains a shooting operation route in which the normal distance between the shooting point and the corresponding surface area is roughly equal, and controls the drone to perform the shooting operation according to the shooting operation route. This can ensure that the resolution of the image collected by the drone at each shooting point is roughly the same, which facilitates the subsequent stitching of images with roughly the same resolution, thereby improving the effect of the shooting operation.

[0160] See also Figure 18 , Figure 18 It is a schematic block diagram of the structure of a route planning device provided in an embodiment of the present application.

[0161] like Figure 18 As shown, the route planning device 400 includes a processor 410 and a memory 420 , and the processor 410 and the memory 420 are connected via a bus 430 , such as an I 2 C (Inter-integrated Circuit) bus.

[0162] Specifically, the processor 410 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0163] Specifically, the memory 420 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0164] The processor 410 is configured to run a computer program stored in the memory 420 and implement the following steps when executing the computer program:

[0165] Acquiring first position information of a plurality of shooting points initially planned for a shooting operation;

[0166] estimating, based on the first position information, second position information of a surface area corresponding to the coverage of an image captured by the drone at any of the shooting points of the target land parcel;

[0167] determining normal information of the surface area according to the second position information;

[0168] adjusting the shooting points according to the normal information so that the normal distances between each of the shooting points and the corresponding surface area are substantially equal;

[0169] According to the adjusted plurality of shooting points, a shooting operation route of the UAV within the target plot is planned.

[0170] In one embodiment, when the processor estimates, based on the first position information, second position information of the surface area covered by the image captured by the drone at any of the shooting points of the target land parcel, it is configured to:

[0171] Acquiring a digital surface model of the target land parcel;

[0172] The second position information of the surface area corresponding to the coverage of the image formed by the drone photographing the target land parcel at any of the photographing points is estimated based on the first position information and the digital surface model.

[0173] In one embodiment, the second position information includes position information of a plurality of ground object points located within the ground surface area, and the processor, when determining the normal information of the ground surface area based on the second position information, is configured to implement:

[0174] determining a plane equation of the surface area based on position information of a plurality of ground object points located within the surface area;

[0175] According to the plane equation, normal information of the surface area is determined.

[0176] In one embodiment, when determining the normal information of the surface area according to the plane equation, the processor is configured to implement:

[0177] A normal vector of the plane equation is determined, and the normal vector of the plane equation is determined as normal information of the surface area.

[0178] In one embodiment, when determining the normal information of the surface area according to the second position information, the processor is configured to implement:

[0179] For the ground object point Pn corresponding to the second position information, obtaining the second position information of the target ground object point adjacent to the ground object point Pn;

[0180] Determining a normal vector of a straight line formed by the ground object point Pn and the target ground object point based on the second position information of the ground object point Pn and the second position information of the target ground object point;

[0181] Normal information of the surface area is determined according to the normal vector.

[0182] In one embodiment, the target ground feature point includes a first ground feature point Pn-1 adjacent to the ground feature point Pn, and / or a second ground feature point Pn+1 adjacent to the ground feature point Pn;

[0183] The normal vector includes a first normal vector of a straight line formed by the ground feature point Pn and the first ground feature point Pn-1, and / or a second normal vector of a straight line formed by the ground feature point Pn and the second ground feature point Pn+1.

[0184] In one embodiment, when determining the normal information of the surface area according to the normal vector, the processor is configured to implement:

[0185] determining a first angle between the first normal vector and a horizontal plane and a second angle between the second normal vector and the horizontal plane;

[0186] Determining a third angle between a midline of the angle between the first normal vector and the second normal vector and a horizontal plane based on the first angle and the second angle;

[0187] Normal information of the surface area is determined according to the third angle.

[0188] In one embodiment, when adjusting the shooting point according to the normal information, the processor is configured to implement:

[0189] Determining a movement displacement of the second position information corresponding to the shooting point according to the normal information and a preset distance;

[0190] Target position information is determined according to the second position information corresponding to the shooting point and the movement displacement, and the target shooting point corresponding to the target position information is determined as the adjusted shooting point.

[0191] In one embodiment, when acquiring the first position information of the plurality of shooting points initially planned for the shooting operation, the processor is configured to implement:

[0192] Obtaining an initial shooting operation route of the UAV initially planned within the target plot;

[0193] A plurality of shooting points are determined from the initial shooting operation route, and first position information of the plurality of shooting points is obtained.

[0194] In one embodiment, the initial shooting operation route includes a plurality of initial main route segments, and the shooting points in the initial main route segments are spaced at equal distances from each other.

[0195] In one embodiment, the number of photographing points determined from each of the initial main route segments is the same.

[0196] In one embodiment, the target plot includes at least a first operating area, a second operating area, and a connecting area for connecting the first operating area and the second operating area, the connecting area is a curved surface area, and the first operating area and the second operating area are both inclined surfaces.

[0197] In one embodiment, the first operating area is a closed area, and the second operating area is an open area.

[0198] In one embodiment, the first working area and the second working area are both closed areas.

[0199] In one embodiment, a side length ratio of a connecting edge between the first working area and the second working area and a target boundary of the second working area is greater than or equal to a preset side length ratio, and the connecting edge is in a relative relationship with the target boundary.

[0200] In one embodiment, the shooting operation route includes a plurality of main route segments, and the plurality of main route segments are all horizontal route segments.

[0201] In one embodiment, the main route segment includes a first route segment located in the first operating area, a second route segment located in the second operating area, and a connecting route segment located in the connecting area.

[0202] In one embodiment, the connecting route segment is used to connect the first route segment and the second route segment.

[0203] In one embodiment, the connecting route segment is an arc-shaped route segment.

[0204] In one embodiment, the photographing interval between two adjacent photographing points on the connecting route segment is determined according to the angle between the first operating area and the second operating area and a preset overlap ratio.

[0205] In one embodiment, the plurality of main route segments are all longitudinal route segments, and the absolute heights of the shooting points on two adjacent main route segments are different.

[0206] In one embodiment, the plurality of main route segments include a first portion of the main route segments located in the first operating area, a second portion of the main route segments located in the second operating area, and a third portion of the main route segments located in the connection area.

[0207] In one embodiment, the first portion of the main route segments, the second portion of the main route segments, and the third portion of the main route segments are parallel to each other, and the third portion of the main route segments includes a plurality of the main route segments.

[0208] In one embodiment, the interval between two adjacent main route segments in the third part of the main route segments is determined according to the angle between the first operating area and the second operating area and a preset overlap rate.

[0209] In one embodiment, the first portion of the main route segment and the second portion of the main route segment are parallel to each other, the end waypoint of the first portion of the main route segment is connected to the start waypoint of the third portion of the main route segment, the end waypoint of the third portion of the main route segment is connected to the start waypoint of the second portion of the main route segment, and the third portion of the main route segment includes an arc-shaped main route segment.

[0210] In one embodiment, the interval distance and shooting interval time between two adjacent shooting points on the main route segment in the third part of the main route segment are determined according to the angle between the first operation area and the second operation area and a preset overlap rate.

[0211] In one embodiment, the shooting operation route includes a first transverse main route segment and a second longitudinal main route segment.

[0212] It should be noted that those skilled in the art will clearly understand that for the sake of convenience and brevity of description, the specific working process of the route planning device described above can refer to the corresponding process in the aforementioned route planning method embodiment, and will not be repeated here.

[0213] See also Figure 19 , Figure 19 This is a schematic block diagram of another route planning device provided in an embodiment of the present application. The route planning device is applied to a terminal device, which is in communication with a drone and is used to control the drone.

[0214] like Figure 19 As shown, the route planning device 500 includes a processor 510 and a memory 520 , and the processor 510 and the memory 520 are connected via a bus 530 , which is, for example, an I 2 C (Inter-integrated Circuit) bus.

[0215] Specifically, the processor 510 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0216] Specifically, the memory 520 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0217] The processor 510 is configured to run a computer program stored in the memory 520 and implement the following steps when executing the computer program:

[0218] determining a first reference point, a second reference point, and a third reference point;

[0219] determining a first operating area according to the first reference point, the second reference point, and the third reference point;

[0220] determining a fourth reference point, and determining a second operating area based on the fourth reference point and a boundary of the first operating area;

[0221] Plan an operating route for the UAV in the first operating area and the second operating area.

[0222] In one embodiment, when determining the first reference point, the second reference point, and the third reference point, the processor is configured to implement:

[0223] Displaying a route planning page, wherein the route planning page displays a reference point setting control and a target plot;

[0224] Controlling the drone to fly over the target plot, and in response to a user triggering an operation on the reference point setting control, determining a current position of the drone as a first reference point;

[0225] Continue to control the drone to fly over the target plot, and in response to a user triggering an operation on the reference point setting control, determine the current position of the drone as a second reference point;

[0226] The drone is continued to be controlled to fly over the target plot, and in response to a user triggering operation on the reference point setting control, the current position point of the drone is determined as a third reference point.

[0227] In one embodiment, when determining the first operating area based on the first reference point, the second reference point, and the third reference point, the processor is configured to implement:

[0228] Taking a reference line between the first reference point and the second reference point as a first boundary, and determining a second boundary that is parallel to the first boundary and includes the third reference point;

[0229] Determining, on the second boundary, a first expansion point corresponding to the first reference point and a second expansion point corresponding to the second reference point;

[0230] An area enclosed by the first reference point, the second reference point, the first expansion point, and the second expansion point is determined as a first operating area.

[0231] In one embodiment, the first operating area is a closed area, and the second operating area is an open area.

[0232] In one embodiment, the first working area and the second working area are both closed areas.

[0233] In one embodiment, when planning the operating route of the drone in the first operating area and the second operating area, the processor is configured to implement:

[0234] Obtaining a first side length of a connecting side between the first operation area and the second operation area;

[0235] Obtain a second side length of a target boundary in the second operating area, where the target boundary is opposite to the connecting side;

[0236] Determining a ratio of the first side length to the second side length to obtain a side length ratio of the connecting side to the target boundary;

[0237] If the side length ratio is greater than or equal to a preset side length ratio, the first operating area and the second operating area are taken as a whole for route planning to obtain an operating route of the UAV.

[0238] In one embodiment, the processor is further configured to implement the following steps:

[0239] If the side length ratio is less than a preset side length ratio, route planning is performed on the first operating area and the second operating area respectively to obtain an operating route of the UAV.

[0240] In one embodiment, the operating route includes a plurality of main route segments, and the plurality of main route segments are all transverse route segments.

[0241] In one embodiment, the main route segment includes a first route segment, a second route segment and a connecting route segment, the first route segment is located in the first operating area, the second route segment is located in the second operating area, and the connecting route segment is located in the connecting area between the first operating area and the second operating area.

[0242] In one embodiment, the connecting route segment is used to connect the first route segment and the second route segment.

[0243] In one embodiment, the connecting route segment is an arc-shaped route segment.

[0244] In one embodiment, the photographing interval between two adjacent photographing points on the connecting route segment is determined according to the angle between the first operating area and the second operating area and a preset overlap ratio.

[0245] In one embodiment, the drone includes a spraying device, and the spraying device does not perform a spraying operation in the connecting route segment.

[0246] In one embodiment, the spraying speed of the spraying device is determined according to the angle between the first working area and the second working area.

[0247] In one embodiment, the plurality of main route segments are all longitudinal route segments, and the absolute heights of the shooting points on two adjacent main route segments are different.

[0248] In one embodiment, the plurality of main route segments include a first portion of the main route segment located in the first operating area, a second portion of the main route segment located in the second operating area, and a third portion of the main route segment located in the connecting area between the first operating area and the second operating area.

[0249] In one embodiment, the first portion of the main route segments, the second portion of the main route segments, and the third portion of the main route segments are parallel to each other, and the third portion of the main route segments includes a plurality of the main route segments.

[0250] In one embodiment, the interval between two adjacent main route segments in the third part of the main route segments is determined according to the angle between the first operating area and the second operating area and a preset overlap rate.

[0251] In one embodiment, the first portion of the main route segment and the second portion of the main route segment are parallel to each other, the end waypoint of the first portion of the main route segment is connected to the start waypoint of the third portion of the main route segment, the end waypoint of the third portion of the main route segment is connected to the start waypoint of the second portion of the main route segment, and the third portion of the main route segment includes an arc-shaped main route segment.

[0252] In one embodiment, the interval distance and shooting interval time between two adjacent shooting points on the main route segment in the third part of the main route segment are determined according to the angle between the first operation area and the second operation area and a preset overlap rate.

[0253] In one embodiment, the operating route includes a first transverse main route segment and a second longitudinal main route segment, the first main route segment is located in the first operating area, and the second main route segment is located in the second operating area, or the first main route segment is located in the second operating area, and the second main route segment is located in the first operating area.

[0254] It should be noted that those skilled in the art will clearly understand that for the sake of convenience and brevity of description, the specific working process of the route planning device described above can refer to the corresponding process in the aforementioned route planning method embodiment, and will not be repeated here.

[0255] See also Figure 20 , Figure 20 This is a schematic block diagram of the structure of an operation control device provided in an embodiment of the present application. The operation control device is applied to a drone, which includes a shooting device and is in communication connection with a terminal device, which is used to control the drone.

[0256] like Figure 20 As shown, the job control device 600 includes a processor 610 and a memory 620 , and the processor 610 and the memory 620 are connected via a bus 630 , which is, for example, an I 2 C (Inter-integrated Circuit) bus.

[0257] Specifically, the processor 610 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0258] Specifically, the memory 620 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0259] The processor 610 is configured to run a computer program stored in the memory 620 and implement the following steps when executing the computer program:

[0260] Obtaining a shooting operation route of the UAV, wherein the shooting operation route is planned according to the route planning method described above;

[0261] The drone is controlled to perform a shooting operation according to the shooting operation route.

[0262] In one embodiment, the processor is further configured to implement the following steps:

[0263] When the UAV reaches a shooting point in the shooting operation route, obtaining a normal vector of a ground surface area corresponding to the shooting point;

[0264] According to the normal vector, the shooting direction of the shooting device at the shooting point is adjusted so that the adjusted shooting direction of the shooting device is substantially perpendicular to the ground surface area corresponding to the shooting point.

[0265] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the action control device described above can refer to the corresponding process in the aforementioned operation control method embodiment, and will not be repeated here.

[0266] See also Figure 21 , Figure 21 This is a schematic block diagram of the structure of a terminal device provided in an embodiment of the present application. Figure 21 As shown, the terminal device 700 includes a route planning device 710. The route planning device 710 may be Figure 18 or Figure 19 Route planning device in.

[0267] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the terminal device described above can refer to the corresponding process in the aforementioned route planning method embodiment, and will not be repeated here.

[0268] See also Figure 22 , Figure 22 This is a schematic block diagram of the structure of a drone provided in an embodiment of the present application.

[0269] like Figure 22 As shown, the drone 800 includes:

[0270] Body 810;

[0271] The photographing device 820 is provided on the body 810 and is used to photograph the target land parcel;

[0272] The power system 830 is provided on the body 810 and is used to provide flight power for the UAV 800;

[0273] The operation control device 840 is disposed in the body 810 and is used to control the drone 800 to perform shooting operations.

[0274] The drone 800 also includes a gimbal, which is mounted on the body 810 and is used to carry a shooting device 820. The operation control device 840 can be Figure 20 The job control device in.

[0275] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the drone described above can refer to the corresponding process in the aforementioned operation control method embodiment, and will not be repeated here.

[0276] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the route planning method provided in the above embodiment.

[0277] The computer-readable storage medium may be an internal storage unit of the terminal device or drone described in any of the aforementioned embodiments, such as a hard disk or memory of the terminal device or drone. The computer-readable storage medium may also be an external storage device of the terminal device or drone, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the terminal device or drone.

[0278] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0279] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0280] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A route planning method, characterized in that: Applied to a terminal device, the terminal device is communicatively connected to a drone and is used to control the drone, the method comprising: determining a first reference point, a second reference point, and a third reference point; determining a first operating area according to the first reference point, the second reference point, and the third reference point; Determining a fourth reference point, and determining a second operating area based on the fourth reference point and a boundary of the first operating area, wherein a connecting area exists between the first operating area and the second operating area, the connecting area being used to connect the first operating area and the second operating area, and both the first operating area and the second operating area are inclined surfaces; An operating route of the drone is planned within the first operating area and the second operating area. The operating route includes a connecting route segment, which is located in the connecting area. The photographing interval between two adjacent photographing points on the connecting route segment is determined based on the angle between the first operating area and the second operating area and a preset overlap rate.

2. The route planning method according to claim 1, characterized in that: The determining of the first reference point, the second reference point, and the third reference point includes: Displaying a route planning page, wherein the route planning page displays a reference point setting control and a target plot; Controlling the drone to fly over the target plot, and in response to a user triggering an operation on the reference point setting control, determining a current position of the drone as a first reference point; Continue to control the drone to fly over the target plot, and in response to a user triggering an operation on the reference point setting control, determine the current position of the drone as a second reference point; The drone is continued to be controlled to fly over the target plot, and in response to a user triggering operation on the reference point setting control, the current position point of the drone is determined as a third reference point.

3. The route planning method according to claim 1, characterized in that: The determining of the first operating area according to the first reference point, the second reference point, and the third reference point includes: Taking a reference line between the first reference point and the second reference point as a first boundary, and determining a second boundary that is parallel to the first boundary and includes the third reference point; Determining, on the second boundary, a first expansion point corresponding to the first reference point and a second expansion point corresponding to the second reference point; An area enclosed by the first reference point, the second reference point, the first expansion point, and the second expansion point is determined as a first operating area.

4. The route planning method according to claim 1, characterized in that: The first operating area is a closed area, and the second operating area is an open area.

5. The route planning method according to claim 1, characterized in that: The first operating area and the second operating area are both closed areas.

6. The route planning method according to claim 5, characterized in that: A side length ratio of a connecting edge between the first operation area and the second operation area and a target boundary of the second operation area is greater than or equal to a preset side length ratio, and the connecting edge is in a relative relationship with the target boundary.

7. The route planning method according to claim 1, characterized in that: Planning the operating route of the UAV in the first operating area and the second operating area includes: Obtaining a first side length of a connecting side between the first operation area and the second operation area; Obtain a second side length of a target boundary in the second operating area, where the target boundary is opposite to the connecting side; Determining a ratio of the first side length to the second side length to obtain a side length ratio of the connecting side to the target boundary; If the side length ratio is greater than or equal to a preset side length ratio, the first operating area and the second operating area are taken as a whole for route planning to obtain an operating route of the UAV.

8. The route planning method according to claim 7, characterized in that: The method further comprises: If the side length ratio is less than a preset side length ratio, route planning is performed on the first operating area and the second operating area respectively to obtain an operating route of the UAV.

9. The route planning method according to claim 1, characterized in that: The connecting area is a curved surface area.

10. The route planning method according to any one of claims 1 to 9, characterized in that: The operating route includes a plurality of main route segments, and the plurality of main route segments are all transverse route segments.

11. The route planning method according to claim 10, characterized in that: The main route segment includes a first route segment, a second route segment and the connecting route segment. The first route segment is located in the first operating area, and the second route segment is located in the second operating area.

12. The route planning method according to claim 11, characterized in that: The connecting route segment is used to connect the first route segment and the second route segment.

13. The route planning method according to claim 12, characterized in that: The connecting route segment is an arc-shaped route segment.

14. The route planning method according to claim 11, characterized in that: The UAV includes a spraying device, and the spraying device does not perform a spraying operation in the connecting route section.

15. The route planning method according to claim 14, characterized in that: The spraying speed of the spraying device is determined according to the angle between the first working area and the second working area.

16. The route planning method according to any one of claims 1 to 9, characterized in that: The operating route includes a plurality of main route segments, all of which are longitudinal route segments, and the absolute heights of shooting points on two adjacent main route segments are different.

17. The route planning method according to claim 16, characterized in that: The plurality of main route segments include a first portion of the main route segment located in the first operating area, a second portion of the main route segment located in the second operating area, and a third portion of the main route segment located in the connecting area between the first operating area and the second operating area.

18. The route planning method according to claim 17, characterized in that: The first part of the main route segments, the second part of the main route segments and the third part of the main route segments are parallel to each other, and the third part of the main route segments includes a plurality of the main route segments.

19. The route planning method according to claim 18, characterized in that: The interval between two adjacent main route segments in the third part of the main route segments is determined according to the angle between the first operating area and the second operating area and a preset overlap rate.

20. The route planning method according to claim 18, wherein: The first part of the main route segment and the second part of the main route segment are parallel to each other, the end waypoint of the first part of the main route segment is connected to the starting waypoint of the third part of the main route segment, the end waypoint of the third part of the main route segment is connected to the starting waypoint of the second part of the main route segment, and the third part of the main route segment includes an arc-shaped main route segment.

21. The route planning method according to claim 18, wherein: The interval distance and shooting interval time between two adjacent shooting points on the main route segment in the third part of the main route segment are determined according to the angle between the first operating area and the second operating area and a preset overlap rate.

22. The route planning method according to any one of claims 1 to 9, characterized in that: The operating route includes a first transverse main route segment and a second longitudinal main route segment, the first main route segment is located in the first operating area, and the second main route segment is located in the second operating area, or the first main route segment is located in the second operating area, and the second main route segment is located in the first operating area.

23. A route planning device, characterized in that: Applied to a terminal device, the terminal device is communicatively connected to a drone and is used to control the drone, the route planning device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the following steps when executing the computer program: determining a first reference point, a second reference point, and a third reference point; determining a first operating area according to the first reference point, the second reference point, and the third reference point; Determining a fourth reference point, and determining a second operating area based on the fourth reference point and a boundary of the first operating area, wherein a connecting area exists between the first operating area and the second operating area, the connecting area being used to connect the first operating area and the second operating area, and both the first operating area and the second operating area are inclined surfaces; An operating route of the drone is planned within the first operating area and the second operating area. The operating route includes a connecting route segment, which is located in the connecting area. The photographing interval between two adjacent photographing points on the connecting route segment is determined based on the angle between the first operating area and the second operating area and a preset overlap rate.

24. The route planning device according to claim 23, characterized in that: When determining the first reference point, the second reference point, and the third reference point, the processor is configured to implement: Displaying a route planning page, wherein the route planning page displays a reference point setting control and a target plot; Controlling the drone to fly over the target plot, and in response to a user triggering an operation on the reference point setting control, determining a current position of the drone as a first reference point; Continue to control the drone to fly over the target plot, and in response to a user triggering an operation on the reference point setting control, determine the current position of the drone as a second reference point; The drone is continued to be controlled to fly over the target plot, and in response to a user triggering operation on the reference point setting control, the current position point of the drone is determined as a third reference point.

25. The route planning device according to claim 23, characterized in that: When determining the first operating area according to the first reference point, the second reference point, and the third reference point, the processor is configured to implement: Taking a reference line between the first reference point and the second reference point as a first boundary, and determining a second boundary that is parallel to the first boundary and includes the third reference point; Determining, on the second boundary, a first expansion point corresponding to the first reference point and a second expansion point corresponding to the second reference point; An area enclosed by the first reference point, the second reference point, the first expansion point, and the second expansion point is determined as a first operating area.

26. The route planning device according to claim 23, characterized in that: The first operating area is a closed area, and the second operating area is an open area.

27. The route planning device according to claim 23, characterized in that: The first operating area and the second operating area are both closed areas.

28. The route planning device according to claim 27, characterized in that: A side length ratio of a connecting edge between the first operation area and the second operation area and a target boundary of the second operation area is greater than or equal to a preset side length ratio, and the connecting edge is in a relative relationship with the target boundary.

29. The route planning device according to claim 23, characterized in that: When planning the operating route of the UAV in the first operating area and the second operating area, the processor is configured to implement: Obtaining a first side length of a connecting side between the first operation area and the second operation area; Obtain a second side length of a target boundary in the second operating area, where the target boundary is opposite to the connecting side; Determining a ratio of the first side length to the second side length to obtain a side length ratio of the connecting side to the target boundary; If the side length ratio is greater than or equal to a preset side length ratio, the first operating area and the second operating area are taken as a whole for route planning to obtain an operating route of the UAV.

30. The route planning device according to claim 29, characterized in that: The processor is further configured to implement the following steps: If the side length ratio is less than a preset side length ratio, route planning is performed on the first operating area and the second operating area respectively to obtain an operating route of the UAV.

31. The route planning device according to claim 23, characterized in that: The connecting area is a curved surface area.

32. The route planning device according to any one of claims 23 to 31, characterized in that: The operating route includes a plurality of main route segments, and the plurality of main route segments are all transverse route segments.

33. The route planning device according to claim 32, characterized in that: The main route segment includes a first route segment, a second route segment and the connecting route segment. The first route segment is located in the first operating area, and the second route segment is located in the second operating area.

34. The route planning device according to claim 33, characterized in that: The connecting route segment is used to connect the first route segment and the second route segment.

35. The route planning device according to claim 34, characterized in that: The connecting route segment is an arc-shaped route segment.

36. The route planning device according to claim 33, characterized in that: The UAV includes a spraying device, and the spraying device does not perform a spraying operation in the connecting route section.

37. The route planning device according to claim 36, characterized in that: The spraying speed of the spraying device is determined according to the angle between the first working area and the second working area.

38. The route planning device according to any one of claims 23 to 31, characterized in that: The operating route includes a plurality of main route segments, all of which are longitudinal route segments, and the absolute heights of shooting points on two adjacent main route segments are different.

39. The route planning device according to claim 38, characterized in that: The plurality of main route segments include a first portion of the main route segment located in the first operating area, a second portion of the main route segment located in the second operating area, and a third portion of the main route segment located in the connecting area between the first operating area and the second operating area.

40. The route planning device according to claim 39, characterized in that: The first part of the main route segments, the second part of the main route segments and the third part of the main route segments are parallel to each other, and the third part of the main route segments includes a plurality of the main route segments.

41. The route planning device according to claim 40, characterized in that: The interval between two adjacent main route segments in the third part of the main route segments is determined according to the angle between the first operating area and the second operating area and a preset overlap rate.

42. The route planning device according to claim 40, characterized in that: The first part of the main route segment and the second part of the main route segment are parallel to each other, the end waypoint of the first part of the main route segment is connected to the starting waypoint of the third part of the main route segment, the end waypoint of the third part of the main route segment is connected to the starting waypoint of the second part of the main route segment, and the third part of the main route segment includes an arc-shaped main route segment.

43. The route planning device according to claim 40, characterized in that: The interval distance and shooting interval time between two adjacent shooting points on the main route segment in the third part of the main route segment are determined according to the angle between the first operating area and the second operating area and a preset overlap rate.

44. The route planning device according to any one of claims 23 to 31, characterized in that: The operating route includes a first transverse main route segment and a second longitudinal main route segment, the first main route segment is located in the first operating area, and the second main route segment is located in the second operating area, or the first main route segment is located in the second operating area, and the second main route segment is located in the first operating area.

45. A work control device, characterized in that: Applied to a drone, the drone is communicatively connected to a terminal device, the terminal device is used to control the drone, and the operation control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the following steps when executing the computer program: Obtaining an operating route of the UAV, wherein the operating route is planned according to the route planning method according to any one of claims 1 to 22; Control the UAV to perform operations according to the operation route.

46. The operation control device according to claim 45, characterized in that: The drone includes a photographing device, the operation route includes a photographing operation route, and the processor is further configured to implement the following steps: When the UAV reaches a shooting point in the shooting operation route, obtaining a normal vector of a ground surface area corresponding to the shooting point; According to the normal vector, the shooting direction of the shooting device at the shooting point is adjusted so that the adjusted shooting direction of the shooting device is perpendicular to the surface area corresponding to the shooting point.

47. A terminal device, characterized in that: The terminal device includes the route planning device according to any one of claims 23-44.

48. A drone, characterized in that: The drone includes: body; a photographing device, provided on the machine body, for photographing the target plot; A power system, provided on the body, for providing flight power for the UAV; The operation control device described in claim 46 is arranged in the body and is used to control the drone to perform shooting operations.

49. The drone according to claim 48, characterized in that The drone also includes: The gimbal is provided on the body and is used for carrying the shooting device.

50. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the steps of the route planning method according to any one of claims 1 to 22.

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