Route planning method and device, obstacle avoidance method and device for plant protection aircraft

Abstract

The present application provides a route planning method and device, and an obstacle avoidance method and device for a plant protection aircraft, which relates to the field of flight control technology and solves the problem that an aircraft cannot perform operating tasks across operating segments. The route planning method includes: obtaining a first route change point determined by a user; if the first route change point is located in an unoperated area of ​​a target operating area, then based on the current position of the aircraft and the first route change point, determining a second route change point on the target operating route located in the unoperated area; then based on the current position and the second route change point, updating the target operating route, thereby improving the flexibility of the aircraft's flight and enabling the aircraft to achieve the purpose of performing operating tasks across operating segments.

Description

Technical Field

[0001] The present application relates to the field of flight control technology, and in particular to a route planning method and device, and an obstacle avoidance method and device for a plant protection aircraft. Background Art

[0002] With the advancement of aircraft control technology, the functions of aircraft are becoming more and more perfect, and people have become inseparable from the use of aircraft in many application fields. At present, aircraft usually adopt a fully autonomous mode when operating, that is, the aircraft route is planned in advance, and then the aircraft automatically operates along the planned route.

[0003] However, the current fully autonomous mode has the problem of being unable to perform tasks across operating segments, that is, the flight route is not flexible enough to meet the personalized operational needs of users. Therefore, how to improve the flexibility of aircraft flight and enable the aircraft to perform tasks across operating segments has become an urgent problem to be solved. Summary of the invention

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a route planning method and device, and an obstacle avoidance method and device for a plant protection aircraft.

[0005] In a first aspect, an embodiment of the present application provides a route planning method, which includes: when an aircraft is operating along a target operating route in a target operating area, obtaining a first route change point determined by a user, the target operating route including at least one operating segment; if the first route change point is located in a non-operating area of ​​the target operating area, then based on the current position of the aircraft and the first route change point, determining a second route change point on the target operating route located in the non-operating area; based on the current position and the second route change point, updating the target operating route so that the aircraft continues to operate along the updated target operating route.

[0006] In combination with the first aspect, in certain implementations of the first aspect, the non-operating area includes multiple operating segments, and based on the current position point of the aircraft and the first route change point, a second route change point on the target operating route located in the non-operating area is determined, including: based on the current position point of the aircraft and the first route change point, generating a connecting line between the current position point and the first route change point; determining multiple intersection points between the connecting line and the multiple operating segments included in the non-operating area; and determining the intersection point that is closest to the current position point among the multiple intersection points as the second route change point.

[0007] In combination with the first aspect, in certain implementations of the first aspect, before obtaining the first route change point determined by the user, it also includes: in response to the user's route change request, obtaining the current position point of the aircraft; based on the current position point, determining an optional area of ​​the route change point corresponding to the current position point, so that the user can determine the first route change point based on the optional area of ​​the route change point.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the route planning method also includes: if the first route change point is located in an operated area of ​​the target operating area, determining the next arrival waypoint of the aircraft on the target operating route; based on the current position point, the first route change point and the next arrival waypoint, updating the target operating route so that the aircraft continues to operate along the updated target operating route.

[0009] In combination with the first aspect, in certain implementations of the first aspect, obtaining a first route change point determined by a user includes: in response to the user's route change request, presenting an operation map corresponding to the target operation area to the user; and obtaining the first route change point determined by the user in the operation map.

[0010] In a second aspect, an embodiment of the present application provides an obstacle avoidance method for a plant protection aircraft, the obstacle avoidance method for the plant protection aircraft comprising: when the plant protection aircraft is operating in the target operation area along a target operation route, determining the location point of an obstacle located in the target operation area; if the distance between the location point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, issuing an obstacle avoidance reminder so that the user can respond to the obstacle avoidance reminder and determine the first route change point corresponding to the plant protection aircraft; updating the target operation route of the plant protection aircraft based on the route planning method mentioned in any of the above embodiments, so that the plant protection aircraft can continue to operate along the updated target operation route, and the updated target operation route can bypass the obstacle.

[0011] In a third aspect, an embodiment of the present application provides a route planning device, which includes: an acquisition module, which is used to acquire a first route change point determined by a user when an aircraft is operating along a target operating route in a target operating area, and the target operating route includes at least one operating segment; a determination module, which is used to determine a second route change point on the target operating route located in a non-operating area of ​​the target operating area based on the current position of the aircraft and the first route change point if the first route change point is located in a non-operating area of ​​the target operating area; and an update module, which is used to update the target operating route based on the current position and the second route change point, so that the aircraft continues to operate along the updated target operating route.

[0012] In a fourth aspect, an embodiment of the present application provides an obstacle avoidance device for a plant protection aircraft, which comprises: a determination module, which is used to determine the location point of an obstacle located in a target operation area when the plant protection aircraft is operating in the target operation area along a target operation route; a reminder module, which is used to issue an obstacle avoidance reminder if the distance between the location point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, so that the user can respond to the obstacle avoidance reminder and determine the first route change point corresponding to the plant protection aircraft; an update module, which is used to update the target operation route of the plant protection aircraft based on the route planning method mentioned in any of the above embodiments, so that the plant protection aircraft can continue to operate along the updated target operation route, and the updated target operation route can bypass the obstacle.

[0013] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program for executing the method mentioned in any of the above embodiments.

[0014] In a sixth aspect, an embodiment of the present application provides an electronic device, comprising: a processor; a memory for storing processor executable instructions; the processor is used to execute the method mentioned in any of the above embodiments.

[0015] The route planning method provided in the embodiment of the present application is that, when the aircraft is operating along the target operating route in the target operating area, the first route change point determined by the user is first obtained; if the first route change point is located in a non-operating area of ​​the target operating area, then based on the current position point of the aircraft and the first route change point, a second route change point on the target operating route located in the non-operating area is determined; then, based on the current position point and the second route change point, the target operating route is updated so that the aircraft can continue to operate along the updated target operating route, thereby improving the flexibility of the aircraft's flight and enabling the aircraft to achieve the purpose of performing operating tasks across operating segments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 The figure is a schematic diagram of a scenario of updating a target operation route in the prior art.

[0018] Figure 2 Shown is a flow chart of a route planning method provided by an exemplary embodiment of the present application.

[0019] Figure 3 Shown is a schematic diagram of a scenario for updating a target operating route provided by an exemplary embodiment of the present application.

[0020] Figure 4 Shown is a schematic diagram of a scenario for updating a target operating route provided by another exemplary embodiment of the present application.

[0021] Figure 5 Shown is a schematic diagram of a scenario for updating a target operating route provided by another exemplary embodiment of the present application.

[0022] Figure 6 The figure is a schematic diagram of a process for determining a second route change point on a target operating route located in a non-operating area based on a current position point of an aircraft and a first route change point provided by an exemplary embodiment of the present application.

[0023] Figure 7 Shown is a schematic diagram of a scenario for determining a second route change point provided by an exemplary embodiment of the present application.

[0024] Figure 8 Shown is a flow chart of a route planning method provided by another exemplary embodiment of the present application.

[0025] Fig. 9 Shown is a schematic diagram of a scenario for determining an optional area of ​​a route change point corresponding to a current location point provided by an exemplary embodiment of the present application.

[0026] Fig.10 Shown is a schematic diagram of a process for obtaining a first route change point determined by a user provided by an exemplary embodiment of the present application.

[0027] Fig.11 Shown is a schematic flow chart of an obstacle avoidance method for a plant protection aircraft provided by an exemplary embodiment of the present application.

[0028] Fig.12 Shown is a schematic structural diagram of a route planning device provided by an exemplary embodiment of the present application.

[0029] Fig.13 Shown is a schematic structural diagram of an obstacle avoidance device for a plant protection aircraft provided by an exemplary embodiment of the present application.

[0030] Fig.14 Shown is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods and means well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0035] In the field of flight control technology, the route of an aircraft is called an air traffic line, or simply a route. The route of an aircraft not only determines the specific direction, starting and ending points, and stopover points of the aircraft's flight, but also stipulates the width of the route and the flight altitude to ensure flight safety. The route from the aircraft's takeoff to the next landing point or the next hovering point is called a flight segment, which is a one-way route of the aircraft's track. A route can include one or more flight segments. The intersection of adjacent flight segments is called a waypoint.

[0036] Figure 1 The figure is a schematic diagram of a scenario of updating the target operation route in the prior art. In the process of implementing the technical solution of the embodiment of the present application, the inventor of the present application found that: Figure 1 As shown, the current position point 1 of the aircraft, the next arrival point 2 of the aircraft, the first route change point 3 determined by the user, and the arrow indicates the flight direction of the aircraft. When the existing aircraft is in operation, if the user needs to control the aircraft to perform operating tasks across operating segments, such as the aircraft flies from the current position point 1 to the first route change point 3 for operation, the aircraft will fly from the current position point 1 to the first route change point 3, and then fly from the first route change point 3 to the next arrival point 2 of the aircraft, which is equivalent to the aircraft finally flying back to the current segment, and the purpose of performing operating tasks across operating segments is not achieved. Therefore, it cannot meet the personalized operating needs of users, and there is a problem that the flight route is not flexible enough.

[0037] In order to solve the above technical problems, this application is proposed.

[0038] Figure 2 FIG. 1 is a flow chart of a route planning method provided by an exemplary embodiment of the present application. Figure 2 As shown, the route planning method provided in the embodiment of the present application includes the following steps.

[0039] Step S201 : When the aircraft is operating in a target operating area along a target operating route, a first route change point determined by a user is obtained.

[0040] Figure 3 Shown is a schematic diagram of a scenario for updating a target operating route provided by an exemplary embodiment of the present application. Figure 4 FIG. 1 is a schematic diagram of a scenario for updating a target operation route provided by another exemplary embodiment of the present application. Figure 3 and Figure 4 As shown, the target operating route is in the shape of a "bow", and the target operating route includes at least one operating segment.

[0041] In one embodiment, the first route change point 3 determined by the user may be as follows: Figure 3 or Figure 4 shown.

[0042] Step S202: If the first route change point is located in a non-operated area of ​​the target operating area, a second route change point located on the target operating route in the non-operated area is determined based on the current position of the aircraft and the first route change point.

[0043] like Figure 3 and Figure 4 As shown, if the first route change point 3 is located in the unoperated area of ​​the target operation area, the second route change point 4 is determined based on the current position point 1 and the first route change point 3. Among them, the second route change point 4 is located on the target operation route in the unoperated area. Specifically, the second route change point 4 is determined based on the intersection of the line segment with the current position point 1 at one end and the first route change point 3 at the other end and the target operation route. In other words, the current position point 1, the first route change point 3 and the second route change point 4 are located on the same line segment.

[0044] Taking the obstacle point O located at the next arrival waypoint 2 of the aircraft as an example, based on the intersection of a line segment with the current position point 1 at one end and the first route change point 3 at the other end and the target operating route, the second route change point 4 is determined, so that the current position point 1, the first route change point 3 and the second route change point 4 are located on the same line segment, ensuring that the aircraft bypasses the obstacle at the position point O, and at the same time controlling the target operating route that cannot be operated due to obstacle avoidance to the minimum range, thereby reducing the impact of obstacle avoidance.

[0045] Step S203, based on the current position point and the second route change point, the target operation route is updated so that the aircraft continues to operate along the updated target operation route.

[0046] In one embodiment, if Figure 3 and Figure 4 As shown, the aircraft flies from the current position point 1 to the second route change point 4, and then continues to operate along the target operating route from the second route change point 4, thereby updating the target operating route and no longer flying to the next arrival waypoint 2, thereby improving the flexibility of the aircraft's flight and enabling the aircraft to achieve the purpose of performing operating tasks across operating segments.

[0047] In one embodiment, the aircraft flies from the current position point 1 to the second route change point 4, and this flight segment can be represented by a dotted line to indicate that the aircraft does not perform any operation while flying this flight segment.

[0048] The route planning method provided in the embodiment of the present application also includes the following steps.

[0049] Step S204: If the first route change point is located in an already operated area of ​​the target operating area, then determine the next arrival waypoint of the aircraft on the target operating route.

[0050] Figure 5 FIG. 1 is a schematic diagram of a scenario for updating a target operation route provided by another exemplary embodiment of the present application. Figure 5 As shown, if the first route change point 3 is located in the operated area of ​​the target operating area, the next arrival waypoint 2 is determined.

[0051] Step S205 , based on the current position point, the first route change point and the next arrival waypoint, the target operation route is updated so that the aircraft continues to operate along the updated target operation route.

[0052] In one embodiment, if Figure 5 As shown, the aircraft flies from the current position point 1 to the first route change point 3, and then flies from the first route change point 3 to the next arrival waypoint 2, thereby updating the target operation route.

[0053] In one embodiment, the aircraft flies from the current position point 1 to the first route change point 3. This flight segment can be represented by a dotted line to indicate that the aircraft does not perform any operation when flying this flight segment to prevent repeated operation in the already operated area.

[0054] In one embodiment, the aircraft flies from the first route change point 3 to the next arrival waypoint 2, and this flight segment can be represented by a solid line to indicate that the aircraft performs operations while flying this flight segment.

[0055] In actual application, when the aircraft is operating along the target operating route in the target operating area, the first route change point determined by the user is obtained. If the first route change point is located in the non-operating area of ​​the target operating area, the second route change point on the target operating route located in the non-operating area is determined based on the current position of the aircraft and the first route change point. Then, based on the current position and the second route change point, the target operating route is updated so that the aircraft can continue to operate along the updated target operating route, thereby improving the flexibility of the aircraft's flight and enabling the aircraft to achieve the purpose of performing operating tasks across operating segments.

[0056] In another application scenario, if the first route change point is located in an operated area of ​​the target operating area, the next arrival waypoint of the aircraft on the target operating route is determined, and then the target operating route is updated based on the current position point, the first route change point and the next arrival waypoint, so that the aircraft can continue to operate along the updated target operating route.

[0057] Figure 6 The figure shows a flow chart of determining a second route change point on a target operating route in an unoperated area based on the current position of the aircraft and the first route change point provided by an exemplary embodiment of the present application. Figure 2 The present application is extended based on the embodiment shown Figure 6 The embodiment shown is described below in detail. Figure 6 The embodiment shown and Figure 2 The differences and similarities of the illustrated embodiments are not described in detail.

[0058] like Figure 6 As shown, in the route planning method provided in an embodiment of the present application, based on the current position point of the aircraft and the first route change point, the step of determining the second route change point on the target operating route located in the non-operating area includes the following steps.

[0059] Step S601, based on the current position point of the aircraft and the first route change point, a connection line between the current position point and the first route change point is generated.

[0060] Figure 7 FIG. 1 is a schematic diagram of a scenario for determining a second route change point provided by an exemplary embodiment of the present application. In one embodiment, the first route change point 3 determined by the user is as follows: Figure 7 As shown, the current position point 1 and the first route change point 3 are connected.

[0061] Step S602, determining a plurality of intersection points between the connecting line and a plurality of operating segments included in the non-operated area.

[0062] like Figure 7As shown, the unoperated area includes a plurality of operating segments, and the line segment formed by the current position point 1 and the first route change point 3 intersects with the plurality of operating segments included in the unoperated area at a plurality of intersection points.

[0063] Step S603: determine the intersection point closest to the current position point among the multiple intersection points as the second route change point.

[0064] In one embodiment, if Figure 7 As shown, under the premise of ensuring that the aircraft can perform operating tasks across operating segments, in order to control the fallen operating segment to the minimum range, the intersection point closest to the current position point among multiple intersection points is determined as the second route change point 4.

[0065] In actual application, first, based on the current position point of the aircraft and the first route change point, a connecting line is generated between the current position point and the first route change point, and then multiple intersection points between the connecting line and multiple operating segments included in the non-operating area are determined. Then, the intersection point closest to the current position point among the multiple intersection points is determined as the second route change point, so as to control the remaining operating segments to the minimum range.

[0066] Figure 8 FIG. 1 is a flow chart of a route planning method provided by another exemplary embodiment of the present application. Figure 2 The present application is extended based on the embodiment shown Figure 8 The embodiment shown is described below in detail. Figure 8 The embodiment shown and Figure 2 The differences and similarities of the illustrated embodiments are not described in detail.

[0067] like Figure 8 As shown, in the route planning method provided in the embodiment of the present application, before the step of obtaining the first route change point determined by the user, the following steps are also included.

[0068] Step S801, in response to a user's route change request, obtaining the current position of the aircraft.

[0069] Step S802, based on the current location point, determining an optional area of ​​the route change point corresponding to the current location point, so that the user can determine the first route change point based on the optional area of ​​the route change point.

[0070] Fig. 9 FIG. 1 is a schematic diagram of a scenario for determining an optional area of ​​a route change point corresponding to a current location point provided by an exemplary embodiment of the present application. Fig. 9As shown, a circular area is generated with the current position point 1 of the aircraft as the center and the preset distance as the radius R. The circular area is the optional area of ​​the route change point corresponding to the current position point. In addition, the optional area of ​​the route change point can also be an area of ​​other shapes, generated based on other methods, and the embodiment of the present application does not further limit this.

[0071] In actual application, the current position of the aircraft is first obtained in response to the user's route change request, and then based on the current position, the optional area of ​​the route change point corresponding to the current position is determined, so that the user can determine the first route change point based on the optional area of ​​the route change point.

[0072] Fig.10 The figure shows a flow chart of obtaining the first route change point determined by the user provided by an exemplary embodiment of the present application. Figure 2 The present application is extended based on the embodiment shown Fig.10 The embodiment shown is described below in detail. Fig.10 The embodiment shown and Figure 2 The differences and similarities of the illustrated embodiments are not described in detail.

[0073] like Fig.10 As shown, in the route planning method provided in the embodiment of the present application, the step of obtaining the first route change point determined by the user includes the following steps.

[0074] Step S1001, in response to a user's route change request, presenting an operation map corresponding to a target operation area to the user.

[0075] In one embodiment, the user is presented with Figures 3 to 5 The job map shown.

[0076] In one embodiment, when there is an obstacle at the next arrival waypoint 2, the route needs to be changed so that the aircraft can bypass the obstacle.

[0077] Step S1002, obtaining the first route change point determined by the user in the operation map.

[0078] In actual application, firstly, in response to the user's route change request, the operation map corresponding to the target operation area is presented to the user, and then the first route change point determined by the user in the operation map is obtained.

[0079] Fig.11 FIG. 1 is a flow chart of an obstacle avoidance method for a plant protection aircraft provided by an exemplary embodiment of the present application. Fig.11 As shown, the obstacle avoidance method for a plant protection aircraft provided in an embodiment of the present application includes the following steps.

[0080] Step S1101 : When the crop protection aircraft is operating in a target operation area along a target operation route, the position point of an obstacle located in the target operation area is determined.

[0081] In one embodiment, if Figure 1 , 3 As shown in , 4, 5, 7, and 9, the location point O of the obstacle is located at the next arrival waypoint 2 in the figure.

[0082] Step S1102: If the distance between the location of the obstacle and the next arrival point of the plant protection aircraft during flight falls within the preset obstacle avoidance distance, an obstacle avoidance reminder is issued so that the user can respond to the obstacle avoidance reminder and determine the first route change point corresponding to the plant protection aircraft.

[0083] In one embodiment, the preset obstacle avoidance distance refers to a safe distance that ensures that the plant protection aircraft can successfully avoid obstacles.

[0084] Step S1103, based on the route planning method mentioned in any of the above embodiments, the target operation route of the plant protection aircraft is updated so that the plant protection aircraft continues to operate along the updated target operation route, and the updated target operation route can bypass obstacles.

[0085] As Figure 1 According to the discussion in the embodiments, the existing aircraft will eventually fly to the next arrival waypoint 2, and therefore cannot bypass obstacles whose distance from the next arrival waypoint 2 falls within the preset obstacle avoidance distance, that is, the existing aircraft cannot bypass obstacles near the next arrival waypoint 2, and is very likely to collide with obstacles on the way to the next arrival waypoint 2. The target operation route of the plant protection aircraft is updated based on the route planning method mentioned in any of the above embodiments of the present application, so that the plant protection aircraft flies to a segment outside the current segment, and successfully bypasses the obstacle.

[0086] In actual application, when the plant protection aircraft is operating in the target operation area along the target operation route, the location point of the obstacle in the target operation area is first determined. If the distance between the location point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within the preset obstacle avoidance distance, an obstacle avoidance reminder is issued, and then the target operation route of the plant protection aircraft is updated based on the route planning method mentioned in any of the above embodiments, so that the plant protection aircraft can successfully avoid the obstacles near the next arrival waypoint.

[0087] Fig.12 FIG. 1 is a schematic diagram of the structure of a route planning device provided by an exemplary embodiment of the present application. Fig.12 As shown, the route planning device provided in the embodiment of the present application includes:

[0088] The acquisition module 201 is used to acquire a first route change point determined by a user when the aircraft is operating in a target operating area along a target operating route, and the target operating route includes at least one operating segment.

[0089] The determination module 202 is configured to determine a second route change point on the target operating route in the non-operating area based on the current position of the aircraft and the first route change point if the first route change point is located in the non-operating area of ​​the target operating area.

[0090] The updating module 203 is used to update the target operation route based on the current position point and the second route change point, so that the aircraft continues to operate along the updated target operation route.

[0091] In one embodiment of the present application, the determination module 202 is also used to generate a connecting line between the current position point and the first route change point based on the current position point of the aircraft and the first route change point; determine multiple intersection points between the connecting line and multiple operating segments included in the non-operating area; and determine the intersection point closest to the current position point among the multiple intersection points as the second route change point.

[0092] In one embodiment of the present application, the acquisition module 201 is further used to obtain the current position point of the aircraft in response to the user's route change request.

[0093] The determination module 202 is further used to determine, based on the current location point, an optional area of ​​the route change point corresponding to the current location point, so that the user can determine the first route change point based on the optional area of ​​the route change point.

[0094] In one embodiment of the present application, the determination module 202 is further configured to determine the next arrival waypoint of the aircraft on the target operation route if the first route change point is located in an already operated area of ​​the target operation area.

[0095] The updating module 203 is further used to update the target operation route based on the current position point, the first route change point and the next arrival waypoint, so that the aircraft continues to operate along the updated target operation route.

[0096] In one embodiment of the present application, the acquisition module 201 is further used to present an operation map corresponding to the target operation area to the user in response to the user's route change request; and to acquire a first route change point determined by the user in the operation map.

[0097] Fig.13 The figure is a schematic diagram of the structure of an obstacle avoidance device for a plant protection aircraft provided by an exemplary embodiment of the present application. Fig.13 As shown, the obstacle avoidance device of the plant protection aircraft provided in the embodiment of the present application includes:

[0098] The determination module 1101 is used to determine the location points of obstacles located in the target operation area when the crop protection aircraft is operating in the target operation area along the target operation route.

[0099] The reminder module 1102 is used to issue an obstacle avoidance reminder if the distance between the location of the obstacle and the next arrival point during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, so that the user can respond to the obstacle avoidance reminder and determine the first route change point corresponding to the plant protection aircraft.

[0100] The updating module 1103 is used to update the target operation route of the plant protection aircraft based on the route planning method mentioned in any of the above embodiments, so that the plant protection aircraft continues to operate along the updated target operation route, and the updated target operation route can bypass obstacles.

[0101] It should be understood that Fig.12 The operations and functions of the acquisition module 201, the determination module 202 and the update module 203 in the provided route planning device can refer to the above Figures 1 to 10 The route planning method provided, Fig.13 The operations and functions of the determination module 1101, the reminder module 1102 and the update module 1103 in the obstacle avoidance device of the plant protection aircraft provided can refer to the above Fig.11 The obstacle avoidance method provided by the plant protection aircraft will not be described here in order to avoid repetition.

[0102] Below, reference Fig.14 To describe an electronic device according to an embodiment of the present application. Fig.14 Shown is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0103] like Fig.14 As shown, the electronic device 10 includes one or more processors 101 and a memory 102 .

[0104] The processor 101 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0105] The memory 102 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 101 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as the first route change point and the second route change point may also be stored in the computer-readable storage medium.

[0106] In one example, the electronic device 10 may further include: an input device 103 and an output device 104, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0107] The input device 103 may include, for example, a keyboard, a mouse, etc.

[0108] The output device 104 can output various information to the outside, including the first route change point, the second route change point, etc. The output device 104 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0109] Of course, to simplify, Fig.14 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0110] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described above in this specification.

[0111] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0112] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the method according to various embodiments of the present application described above in this specification.

[0113] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0114] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0115] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0116] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0117] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0118] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A route planning method, characterized in that: include: When the aircraft is operating along a target operation route in a target operation area, obtaining a first route change point determined by a user; If the first route change point is located in an unoperated area of ​​the target operating area, determining a second route change point on the target operating route located in the unoperated area based on the current position of the aircraft and the first route change point; Based on the current position point and the second route change point, updating the target operation route so that the aircraft continues to operate along the updated target operation route; The non-operation area includes a plurality of operation segments, and determining a second route change point on the target operation route in the non-operation area based on the current position of the aircraft and the first route change point includes: Based on the current position point of the aircraft and the first route change point, generating a connection line between the current position point and the first route change point; Determine a plurality of intersection points between the connecting line and the plurality of operating segments included in the non-operated area; The intersection point closest to the current position point among the multiple intersection points is determined as the second route change point.

2. The route planning method according to claim 1, characterized in that: Before obtaining the first route change point determined by the user, the method further includes: In response to the user's route change request, obtaining the current position of the aircraft; Based on the current location point, an optional area of ​​a route change point corresponding to the current location point is determined, so that the user can determine the first route change point based on the optional area of ​​the route change point.

3. The route planning method according to claim 1, characterized in that: Also includes: If the first route change point is located in an already operated area of ​​the target operating area, determining a next arrival waypoint of the aircraft on the target operating route; Based on the current position point, the first route change point and the next arrival waypoint, the target operation route is updated so that the aircraft continues to operate along the updated target operation route.

4. The route planning method according to claim 1, characterized in that: The obtaining the first route change point determined by the user includes: In response to the route change request of the user, presenting an operation map corresponding to the target operation area to the user; The first route change point determined by the user in the work map is obtained.

5. A method for avoiding obstacles for a plant protection aircraft, characterized in that: include: When the plant protection aircraft is operating in a target operation area along a target operation route, determining the location of obstacles located in the target operation area; If the distance between the location of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, an obstacle avoidance reminder is issued so that the user can respond to the obstacle avoidance reminder and determine the first route change point corresponding to the plant protection aircraft; The target operating route of the plant protection aircraft is updated based on the route planning method described in any one of claims 1 to 4 above, so that the plant protection aircraft continues to operate along the updated target operating route, and the updated target operating route can bypass the obstacle.

6. A route planning device, characterized in that: include: An acquisition module, used for acquiring a first route change point determined by a user when the aircraft is operating along a target operation route in a target operation area; a determination module, configured to determine, if the first route change point is located in an unoperated area of ​​the target operating area, a second route change point on the target operating route located in the unoperated area based on the current position of the aircraft and the first route change point; An updating module, configured to update the target operating route based on the current position point and the second route change point, so that the aircraft continues to operate along the updated target operating route; The non-operation area includes a plurality of operation segments, and determining a second route change point on the target operation route in the non-operation area based on the current position of the aircraft and the first route change point includes: Based on the current position point of the aircraft and the first route change point, generating a connection line between the current position point and the first route change point; Determine a plurality of intersection points between the connecting line and the plurality of operating segments included in the non-operated area; The intersection point closest to the current position point among the multiple intersection points is determined as the second route change point.

7. An obstacle avoidance device for a plant protection aircraft, characterized in that: include: A determination module, used to determine the location points of obstacles located in the target operation area when the plant protection aircraft is operating along the target operation route in the target operation area; A reminder module, configured to issue an obstacle avoidance reminder if the distance between the location of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, so that the user can respond to the obstacle avoidance reminder and determine the first route change point corresponding to the plant protection aircraft; An updating module is used to update the target operating route of the plant protection aircraft based on the route planning method described in any one of claims 1 to 4 above, so that the plant protection aircraft continues to operate along the updated target operating route, and the updated target operating route can bypass the obstacle.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 5.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method according to any one of claims 1 to 5.

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