Method, device and storage medium for planning a work route of a mobile device

Abstract

Embodiments of the present application disclose a kind of movable equipment's work route planning method, device, equipment and storage medium, and the present scheme relates to equipment control technical field.The method comprises: obtaining the first boundary for limiting the end point position of one of the work section of movable equipment;The reference work section of the movable equipment is obtained, and the remaining work section parallel to the reference work section is generated;The second boundary for limiting the other end point position of the reference work section and the remaining work section is obtained, and the tentative work route of the movable equipment is updated.The technical scheme can determine one boundary condition of work section, reference work section and another boundary condition, realize the planning of work route, and the actual operation process is simple, fast, and the operation effect is intuitive, which can improve the user experience.

Description

Technical Field

[0001] This application relates to the field of route planning technology, and in particular to a method, apparatus, device, and storage medium for planning the operation route of a mobile device. Background Technology

[0002] With the development of mobile device technology, its application scenarios are increasing, and its functions are becoming more diverse. For example, in the field of smart agriculture, the use of drones or unmanned vehicles for farm operations such as sowing, spraying pesticides, and crop monitoring has gained popularity among agricultural users due to its advantages of requiring no manual operation and being easy to control.

[0003] In related technologies, taking mobile device pesticide spraying as an example, it is necessary to clearly define the area to be sprayed in order to carry out the work accurately. However, the current method for determining the work area often involves setting landmarks at the inflection points of the boundary line or entering location information before the work can proceed normally. But for the user, this requires them to go to each inflection point to operate, adding many auxiliary work steps to farmland work and affecting work efficiency. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for planning the work route of a mobile device, which solves the problem in related technologies that mobile devices need to spend a lot of time completing auxiliary work to confirm the work area before operation. It greatly improves work efficiency, simplifies the actual operation of users, and makes the solution more convenient to implement and easier for users to accept.

[0005] In a first aspect, embodiments of the present invention provide a method for planning the operation route of a mobile device, the method comprising:

[0006] Obtain the first boundary at one of the endpoints of the work segment used to restrict mobile equipment;

[0007] Obtain the baseline work route of the mobile device, and generate the remaining work routes parallel to the baseline work route;

[0008] Obtain a second boundary to limit the location of the other endpoint of the baseline work segment and the remaining work segments, and update the proposed work route of the mobile device.

[0009] Secondly, embodiments of the present invention also provide a work route planning device for a mobile device, the device comprising:

[0010] The first boundary acquisition module is used to acquire the first boundary at one of the endpoints of the work segment used to restrict mobile equipment;

[0011] The baseline work section acquisition module is used to acquire the baseline work section of the mobile device and generate other work sections parallel to the baseline work section.

[0012] The proposed operation route determination module is used to obtain a second boundary for limiting the other endpoint position of the baseline operation route and the remaining operation routes, and update the proposed operation route of the mobile device.

[0013] Thirdly, embodiments of the present invention also provide a work route planning device for a mobile device, the device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the work route planning method for a mobile device according to embodiments of the present invention.

[0014] Fourthly, embodiments of the present invention also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to execute the work route planning method for a mobile device described in the embodiments of the present invention.

[0015] In this embodiment of the invention, a first boundary is obtained to restrict the location of one endpoint of the work segment of the mobile device; a reference work segment of the mobile device is obtained, and other work segments parallel to the reference work segment are generated; a second boundary is obtained to restrict the location of the other endpoint of the reference work segment and the other work segments, and the proposed work route of the mobile device is updated. This solution, by obtaining the first boundary of the work segment, the reference work segment, and the second boundary of the work segment, simplifies the user's operation in determining the work area during the use of the mobile device, improves work efficiency, and enhances the user experience. Attached Figure Description

[0016] Figure 1 A flowchart illustrating a method for planning the work route of a mobile device, as provided in an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of the first boundary determination process provided in an embodiment of the present invention;

[0018] Figure 3 A schematic diagram illustrating the first boundary determination result provided in an embodiment of the present invention;

[0019] Figure 4 A schematic diagram illustrating the process of determining the baseline work section and other work sections provided in an embodiment of the present invention;

[0020] Figure 5A schematic diagram illustrating the determination result of the second boundary provided in an embodiment of the present invention;

[0021] Figure 6 A flowchart illustrating another method for planning the work route of a mobile device provided in an embodiment of the present invention;

[0022] Figure 7 A flowchart illustrating another method for planning the work route of a mobile device provided in an embodiment of the present invention;

[0023] Figure 8 This is a schematic diagram illustrating a crop boundary marking process provided in an embodiment of the present invention.

[0024] Figure 9 A flowchart illustrating another method for planning the work route of a mobile device provided in an embodiment of the present invention;

[0025] Figure 10 A schematic diagram illustrating the process of determining a first boundary and a second boundary as provided in an embodiment of the present invention;

[0026] Figure 11 A schematic diagram of a working route planning device for a mobile device provided in an embodiment of the present invention;

[0027] Figure 12 This is a structural schematic diagram of a mobile device for planning work routes, provided as an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0029] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0030] The method for planning the operation route of a mobile device provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0031] In this technical solution, a simple operation instruction based on the user is adopted to implement the planning of the working sections in the working area. During the planning process, the first boundary is determined first, and then the reference working section is determined based on the operation instruction. Furthermore, other working sections can be determined. Finally, after the second boundary is determined, the planning results for each working section can be obtained. In this process, compared with the prior art, there is no need to input the inflection point positions of the boundary lines one by one, which simplifies the use process of the mobile device.

[0032] In addition, there is also a technology that needs to determine the working area based on the boundary line, and finally determine the shape and parameters of the crop rows one by one from the working area, so as to complete the planning of the working area. Compared with this solution, this solution completely removes the restrictions of the working area. Instead of starting from the determination of the working area, it can simply and quickly determine the reference working section and other working sections, realizing the rapid planning of the working sections. Therefore, the two solutions are designed from different perspectives, and this solution can break through the technical barrier of first determining the working area, bringing a completely different use experience and more significant effects for the use of the mobile device and the rapid operation of the crop rows.

[0033] Figure 1 FIG. is a flowchart of a method for planning the working route of a mobile device provided by an embodiment of the present invention. This embodiment is applicable to the scenario of using a mobile device to perform orderly operations on working tasks within a certain range. This method can be executed by the control end of the mobile device. The control end can be integrated into the mobile device or can be designed independently of the mobile device. For example, it can be designed as a user's handheld terminal or a remote control terminal, etc. This solution specifically includes the following steps:

[0034] S101. Obtain a first boundary for restricting the position of one endpoint of the working section of the mobile device.

[0035] The mobile device can be a device integrated with moving components such as a drone or an unmanned vehicle. In addition, the mobile device can also be a device such as a robotic arm that requires external additional moving components to move. The mobile device can be integrated with a communication function for receiving instructions and sending data, and can also be integrated with a processing function.

[0036] In one embodiment, the mobile device can receive a control instruction issued by the control end. Among them, the control end can be the user's mobile phone terminal or other intelligent devices, or can also be a remote controller configured with the mobile device. The user's mobile phone terminal or other intelligent devices can control the mobile device by downloading an application program or accessing a certain user interface.

[0037] During flight, the mobile device can ascend from the ground to a preset altitude and fly along a specific trajectory. Users can draw the flight path and select target locations using their mobile devices, and can also determine the flight direction of the mobile device using the directional keys on the remote control.

[0038] In this embodiment, a drone is used as an example of a mobile device for explanation.

[0039] The work area can be a row of crops in farmland, such as cultivated ridges or plots. When the drone flies to one end of the work area, the user can click a specific button to obtain the drone's position and direction. For example, after the user clicks the "OK" button, the drone hovers at that position, and the control terminal displays the extension line of the drone's flight direction, allowing the user to check if it coincides with or is parallel to the boundary line of the work area. If they coincide, the user can click the "OK" button again to confirm that this direction is the first boundary. Combining this with the previously determined position, the specific location of the first boundary can be obtained. If they do not coincide, the control terminal can issue a control command to make the drone rotate in place until the extension line of its flight direction coincides with the boundary line of the work area.

[0040] In the context of multiple cultivated ridges, the first boundary can be the alignment position of one end of each cultivated ridge. Users can determine whether the drone's direction of travel coincides with the first boundary through on-site observation during operation, or by generating a top-down view from images captured by the drone and fitting the drone's real-time position and attitude to the top-down view to identify whether the drone is aligned with one end of each cultivated ridge.

[0041] Figure 2 This is a schematic diagram illustrating the first boundary determination process provided in an embodiment of the present invention. Figure 2 As shown, the actual work area required by the user can be as follows: Figure 2 As shown by the multiple gray areas in the image, the operating route of the drone in the operating area can be estimated. For example, the endpoint of the operating route can be at the edge of the gray area in the width direction, or at a position within the operating area and at a set interval from the edge. Therefore, the drone can be controlled to fly to the position corresponding to one of the endpoints of the operating route, and the drone's pointing information can be controlled to coincide with the same side of multiple operating routes. The first boundary can then be determined based on the position and direction.

[0042] Figure 3 This is a schematic diagram illustrating the first boundary determination result provided in an embodiment of the present invention. Figure 3As shown, after the first boundary is determined, all work sections end at the first boundary. This allows for preparation for the planning of subsequent work sections.

[0043] This solution allows users to determine the first boundary with just a few simple operations during use.

[0044] S102. Obtain the reference work section of the mobile device and generate the remaining work sections parallel to the reference work section.

[0045] After determining the first boundary, the drone can be controlled to fly along one of multiple work routes, such as the outermost cultivated ridge in the farmland where the user needs to work. This process can involve determining the intersection of the first boundary and the centerline of the cultivated ridge, and then flying along the centerline of the cultivated ridge from that intersection. During the flight, the baseline work route can be determined by combining the drone's position data or its flight direction.

[0046] In this scheme, the remaining work sections can be determined after the baseline work section is determined, based on pre-set work parameters. For example, assuming the work parameters include usage per acre and flight altitude, the route spacing between work routes can be calculated based on the usage per acre and flight altitude, and then the remaining work sections can be generated based on the route spacing and the parallelism between routes. Alternatively, if the work parameters include route spacing, then there is no need to calculate the route spacing; instead, the remaining work sections can be generated directly based on the route spacing and the parallelism between routes.

[0047] Understandably, the remaining work sections can be distributed on one side or both sides of the basic work sections. In this scheme, multiple remaining work sections can be determined simultaneously, or a fixed number can be determined each time, such as one or five remaining work sections at a time. After the remaining work sections are completed, another one or five remaining work sections are generated. Furthermore, in determining the number of remaining work sections, ground information can be considered, such as the presence of isolating vegetation or ditches. Therefore, when determining multiple remaining work sections, isolating vegetation or ditches can be used as boundaries to improve the accuracy of the generated remaining work sections.

[0048] The aforementioned baseline work segment is determined based on the location flown by the UAV, or in conjunction with its flight direction. For example, the starting point of the UAV's flight and the direction it points forward, or a curve or straight line fitted from the flight trajectory obtained from the starting point to a certain time interval, are used to determine the baseline work segment. Therefore, in this case, only the position of one end of the baseline work segment and the remaining work segments defined by the first boundary is determined; the boundary of the other end is uncertain. Thus, the baseline work segment and the remaining work segments can be understood as resembling rays. After determining the second boundary, all rays can be truncated to obtain the baseline work segment and the remaining work segments that correspond to the actual length.

[0049] Figure 4 This is a schematic diagram illustrating the process of determining the baseline work section and other work sections as provided in an embodiment of the present invention. Figure 4 As shown, users can control the drone to move along, such as Figure 4 The first work segment shown in the diagram is used as the baseline work segment. Based on the baseline work segment, multiple other work segments parallel to the baseline work segment can be determined according to the corresponding work parameters. It can be understood that the gray area shown in the diagram represents the actual crop rows. For the drone or its control terminal, the actual baseline work segment and the remaining work segments are all work segments extending infinitely in the pointing direction, with the first boundary as the endpoint. Furthermore, although... Figure 4 The example given is generating the remaining work sections on one side of the baseline work section. However, in actual work, the remaining work sections can be generated simultaneously on both sides of the baseline work section.

[0050] S103. Obtain a second boundary for limiting the location of the other endpoint of the baseline work section and the remaining work sections, and update the proposed work route of the mobile device.

[0051] In this solution, optionally, the location of the other endpoint can be obtained after the user sees the drone fly to the other end of the cultivated ridge and clicks the confirmation button or the stop operation button, based on the user's operation command. It is understood that the user can issue operation commands based on on-site observation of the drone, or based on observation of a top-down view displaying the drone's location on the screen.

[0052] After obtaining the location of the other endpoint, a dashed line that can be rotated around that location can be displayed to the user. The user can rotate the dashed line until it aligns with the other end of the multiple cultivated ridges, thus defining the second boundary of the work section. Alternatively, a simpler and faster method can be used, such as automatically generating the second boundary based on a top-down view after determining the location of the other endpoint, or determining a second boundary parallel to the first boundary after determining the location of the other endpoint. This solution does not impose too many limitations on this approach.

[0053] After determining the second boundary, the previously generated baseline work section and the remaining work sections will be truncated, thus obtaining the actual work sections.

[0054] Figure 5 This is a schematic diagram illustrating the determination result of the second boundary provided in an embodiment of the present invention. Figure 5 As shown, users can control the drone to move along, such as Figure 5 The operation begins on the first work segment in the field, and upon reaching the end of that segment, the drone stops operation and acquires the stopping position by clicking the "Stop Operation" button. Based on this position, a line aligned with the other end of all work segments in the field can be generated; this line is the second boundary. The specific method for determining the second boundary is as described above and will not be repeated here.

[0055] Combining the steps described above, this step, after a simple user operation, can clearly define each work segment. While controlling the drone to fly along the first work segment (such as the baseline work segment), the drone can simultaneously perform operations. After the operation is completed, the second boundary is obtained. Once the second boundary is obtained, the remaining work segments can be updated and operations can continue. This allows for more efficient determination of all work segments in the entire task, improving the efficiency of the work segment determination process. At the same time, it simplifies the operation, making it easier for users to get started and improving the user experience.

[0056] In one embodiment, optionally, after updating the proposed work route of the mobile device, the method further includes:

[0057] Based on the fourth operation instruction, the target operation route of the mobile device is determined from the proposed operation route; wherein, the fourth operation instruction includes a turning operation instruction issued from the first control terminal or a selection operation instruction issued from the second control terminal.

[0058] Understandably, if the proposed operation route is generated based on a baseline operation segment and is distributed on both sides of the baseline operation segment, the left or right side of the baseline operation segment can be determined as valid based on further user operations. Therefore, after obtaining the proposed operation route, i.e., after truncation processing, the actual proposed operation segment to be operated can be determined based on the user's operation instructions. For example, the user can click or circle to select one side of the proposed operation segment via a mobile terminal, while the other side is considered an invalid proposed operation segment and gradually disappears from the display screen. The user can also control the drone to change lanes to the left or right via a remote control, thereby selecting the proposed operation segment on the corresponding side of the baseline operation segment, while the other side is considered an invalid proposed operation segment, which can be simultaneously displayed on the mobile terminal screen.

[0059] This embodiment, based on the above embodiments, provides a simplified method for selecting proposed work segments generated from both sides. In this way, users can complete the selection during the actual operation of the drone and obtain planning results that match the actual work segments, improving operational efficiency and the accuracy of the planning results, while also facilitating flexible selection of work segments by the user.

[0060] Figure 6 The flowchart illustrates another method for planning the work route of a mobile device according to an embodiment of the present invention. Specifically, this embodiment optimizes the method by: obtaining a first boundary for restricting the work route segment of the mobile device, including: obtaining first position information and first direction information of the mobile device according to a first marking instruction; and determining the first boundary based on the first position information and the first direction information. Figure 6 As shown, this solution specifically includes the following steps:

[0061] S601. Obtain the first position information and first direction information of the mobile device according to the first dot instruction.

[0062] The first marking command can be issued by the user via a remote control or mobile device, such as clicking a specific button or a combination of buttons on the remote control. Alternatively, marking commands can also be issued via a mobile device, such as clicking a marking command button in an application. In addition to the above two types, a marking command can also be a status command. For example, if the drone is controlled to be in marking mode via a remote control or mobile device, the drone can automatically collect position and direction information at preset intervals or upon triggering an event during flight. For instance, after the user sets the drone to marking mode, it will automatically acquire position and direction information when it identifies the boundary of an object during flight.

[0063] In this embodiment, optionally, obtaining the first position information and first direction information of the mobile device according to the first dot instruction includes:

[0064] The system acquires the position information of multiple trajectory points during the marking process of the mobile device to obtain first position information; it then fits the position information of the multiple trajectory points in the first position information to obtain the first direction information, or obtains the first direction information by connecting two trajectory points at a preset distance in the first position information; or...

[0065] The current location information of the mobile device is obtained to obtain first location information, and the first direction information is determined based on the current orientation of the mobile device.

[0066] The mapping process of the mobile device can be a boundary mapping mode, such as mapping the boundaries of a plot of land or the boundaries of a crop area. Boundary mapping mode can be understood as the first direction and first position information acquired by the drone directly referring to the direction and position of the crop area boundary or plot boundary. The following explains the various methods of acquiring the first position and first direction information:

[0067] The first approach: When the first position information includes the position information of multiple trajectory points, this information can be obtained by the RTK positioning module within the UAV during its flight along the boundary. After obtaining the positions of multiple trajectory points, the first direction information can be determined through the fitting results of these points. Here, the least squares method or similar techniques can be used for fitting.

[0068] The second method: When the first location information includes multiple trajectory point location information, after obtaining the multiple trajectory point location information, the first direction information can also be obtained by connecting two trajectory points at a preset distance. The preset distance interval can be the interval between the center lines of two adjacent crop rows, but is not limited to this. For example, assuming the width of each crop row is 80cm and the boundary interval between two crop rows is 10cm, then the interval between the center lines of the two crop rows is 90cm. In other modified embodiments, the first location information may only include two trajectory point location information. Based on this, the direction pointed to by the connecting line between the two trajectory points can be directly determined as the first direction information. In this case, the drone can be controlled to first mark a point at a certain location on the boundary, and then the drone can be controlled to fly a short distance along the boundary and stop before marking another point, thus obtaining two trajectory points. The aforementioned short distance can be 10cm, but this application is not limited to this, as long as two points at different locations on the boundary can be obtained and connected to form the aforementioned connecting line.

[0069] The third method, besides the two methods mentioned above, is to determine the first position information and the first direction information by obtaining the position and direction information of the drone after it receives a certain command. For example, by adjusting the drone's pose, the user can position it at any point on the boundary of the crop area or plot, and make it point in the direction of the boundary at its current location. The current position information and current direction of the drone obtained in this way are the first position information and the first direction information.

[0070] In this embodiment, the first boundary can be accurately determined with easy user perception through the above-described scheme for determining the first position information and the first direction information. The operation is simple and does not require excessive marking and positioning, making the implementation of the scheme simpler and easier.

[0071] S602. Determine the first boundary based on the first position information and the first direction information.

[0072] Understandably, once the locations of the points a straight line passes through and the direction of the line are determined, the position of the line in space can be determined. Therefore, after identifying the first position information and the first direction information, the first boundary can be determined.

[0073] S603. Obtain the reference work section of the mobile device and generate the remaining work sections parallel to the reference work section.

[0074] S604. Obtain a second boundary for limiting the location of the other endpoint of the baseline work segment and the remaining work segments, and update the proposed work route of the mobile device.

[0075] Based on the above embodiments, this embodiment provides a specific method for determining the first boundary. By implementing the technical solution of this embodiment, the first boundary can be determined simply and quickly. For users, no extensive training or other work is required, making it easy to use.

[0076] Figure 7 The flowchart illustrates another method for planning the work route of a mobile device according to an embodiment of the present invention. Specifically, this embodiment optimizes the method by: obtaining the reference work segment of the mobile device, including: obtaining the current position and pointing information of the mobile device according to a route generation instruction, and determining the reference work segment; or determining the reference work segment based on the travel trajectory information of the mobile device during the process from starting to stopping the reference work segment marking; or determining the reference work segment based on the starting position of the mobile device when starting to mark the reference work segment and the ending position when stopping the reference work segment marking. Figure 7 As shown, this solution specifically includes the following steps:

[0077] S701. Obtain the first boundary of one of the endpoint locations of the work segment used to restrict mobile equipment; and perform any one of steps S702, S703, and S704.

[0078] S702. Obtain the current location and pointing information of the mobile device according to the route generation instruction, and determine the benchmark operation section.

[0079] Route generation commands can be issued by the user through the control terminal. These commands can be specific to a button or be status commands. For example, clicking a button can output a route generation command, or the drone can be set to enter a route generation state, or it can automatically enter a route generation state after completing the task in the previous state, such as after determining the first boundary.

[0080] The current location can be the intersection of the first boundary and the centerline of a work segment, and the directional information can be the direction along the centerline of that work segment after user adjustment. In this case, the user can start the operation by controlling the drone, and the drone can then operate along this work segment, thus establishing that work segment as the baseline work segment. Generally, the baseline work segment is often the first work segment in the work area.

[0081] In a real-world scenario, a user can remotely control a drone to navigate to the first flight path within the target work area. Since the user has already set the relevant work parameters via a display terminal application before starting the operation, or these parameters are synchronized to the application from the cloud based on default parameters for the current work type, after obtaining the first boundary, the user can, based on experience, remotely control the drone to fly to the starting point of the operation and control the drone's nose to face the work direction. The work direction can be obtained simultaneously with the starting point. For example, the user can control the drone to fly to the starting point, then control the drone to face the work direction, and then click a confirmation button. Alternatively, the points can be obtained separately; for example, the user can control the drone to fly to the starting point, click a confirmation button, then control the drone to face the work direction, and then click a confirmation button again, obtaining the points in two steps. This allows a baseline work path to be generated based on the starting point and the work direction.

[0082] This solution can determine the baseline operation route based on the current location and directional information of the mobile device after the user issues or the route generation command is automatically executed.

[0083] S703. Determine the reference work section based on the travel trajectory information of the mobile device during the process from the start of marking the reference work section to the stop of marking the reference work section.

[0084] The initial step of marking the baseline work section can involve the user-controlled drone determining the current flight trajectory as the baseline work section. This process allows the drone to acquire its own trajectory information, obtaining the location information of multiple points within the baseline work section. This solution can use the least squares method to fit the data based on these multiple location points, or employ other methods, to obtain the baseline work section.

[0085] Understandably, the fitting result of this solution can be either a straight line or a curve. This design allows the solution to handle situations where the work section is not strictly a straight line, or where the area where the work section is located does not have a standard geometric shape. This design expands the applicability of the solution and better meets the actual needs of agricultural production.

[0086] S704. Determine the reference work section based on the starting position of the mobile device when it starts marking the reference work section and the ending position when it stops marking the reference work section.

[0087] In this solution, users can control the drone to mark the starting and ending points of the desired work section, thereby obtaining the starting and ending point location information. This gives the starting and ending positions, which are the starting and ending points of the baseline work section. The line connecting these two positions is the baseline work section.

[0088] Compared to other methods, this scheme enables the rapid determination of the benchmark work section, resulting in a benchmark work section defined by the start and end points. This scheme offers advantages such as simple calculation methods and straightforward operation instructions.

[0089] S705. Generate the remaining work sections parallel to the baseline work section.

[0090] S706. Obtain a second boundary for limiting the location of the other endpoint of the baseline work section and the remaining work sections, and update the proposed work route of the mobile device.

[0091] This embodiment provides several methods for determining benchmark operation sections. By using these methods, the solution can cope with more complex agricultural production environments and can be implemented through simple operations. This makes agricultural operations based on mobile devices more applicable and easier for users to operate, thereby improving operational efficiency.

[0092] In the above embodiments, the benchmark operation route can be obtained in either boundary marking mode or route marking mode. Boundary marking refers to the mobile device moving along the boundary and acquiring its location information. In boundary marking mode, the user can control the drone to mark the location of the actual plot boundary or crop area boundary. Route marking refers to the mobile device moving along the desired operation path and acquiring its location information. In route marking mode, the user can control the drone to fly along the centerline of a crop row or point the drone towards the centerline. The resulting first location information and first direction information are directly the location and direction information of the benchmark operation route, eliminating the need for analysis and processing as in boundary marking mode, thus improving the efficiency of benchmark operation route acquisition.

[0093] The following will explain the acquisition of the baseline work section under these two point-marking modes:

[0094] (i) When the baseline work section of a mobile device is obtained in boundary marking mode, the steps for determining the baseline work section include:

[0095] The current boundary information is determined based on the current location and direction information of the mobile device, or the travel trajectory information, or the start and end positions. The baseline work segment is determined based on the current boundary information and a preset distance between the boundary and the route. The preset distance between the boundary and the route can be input by the user into the control terminal, or it can be automatically recommended by the control terminal based on the current crop type, work type, or terrain conditions; this is not limited here. Furthermore, the current boundary information can be a crop boundary parallel to the desired work direction of the mobile device, or a plot boundary.

[0096] (ii) When the reference work section of the mobile device is obtained in route marking mode, the step of determining the reference work section includes:

[0097] Starting from the current location of the mobile device and using the directional information as the direction of travel, the baseline work section is generated; or

[0098] The route generated using the aforementioned trajectory information is used as the baseline work section; or

[0099] The line connecting the starting position and the ending position is used as the reference work section.

[0100] In this scheme, the current boundary information is determined based on the current location and pointing information of the mobile device, or the travel trajectory information, or the starting and ending positions. The specific determination method can be found above and will not be repeated here.

[0101] Figure 8 This is a schematic diagram illustrating a crop boundary marking process provided in an embodiment of the present invention. Figure 8 As shown, Figure 8 The gray area also represents crop rows. The user can control the drone to fly to the edge of the first crop row to be worked on within the work area. Then, using the edge of the crop row as a reference point, the user first controls the drone to obtain the crop boundary line in the width direction of the crop row, which can be identified as the first boundary. Next, the user controls the drone to obtain the crop boundary line in the length direction of the crop row, which can be called the longitudinal crop boundary line, as shown by the two arrowed lines in the figure. After obtaining the longitudinal crop boundary line, multiple work segments located on both sides of the longitudinal crop boundary line can be generated based on this longitudinal crop boundary line and the set work parameters, such as route spacing and the distance between the route and the adjacent boundary of the adjacent crop area. Afterwards, based on subsequent user actions, the left or right side of the longitudinal crop boundary line can be determined as a valid work segment. Among the valid work segments, the work segment adjacent to the longitudinal crop boundary line can be identified as the baseline work segment. Subsequently, the drone can automatically perform work along the generated baseline work segment until a stop command is received. At this point, the user can further control the drone to change to the next work segment, thereby determining the second boundary based on the drone's change path. Subsequently, the work segments can be updated through the second boundary based on the scheme described above, which will not be elaborated here.

[0102] It is worth noting that for regional sowing operations, the plots may not have crop rows. For this scenario, adaptive adjustments can be made. For example, the above boundaries can be obtained by replacing the crop behavior benchmark with the plot boundaries.

[0103] Based on the above embodiments, this embodiment provides a specific method for marking points by crop boundaries or by plot boundaries. This setting provides a more flexible way to determine the operation route, improves the matching degree between the user's use of the drone and actual needs, and also improves the operation efficiency.

[0104] Optionally, based on the above embodiments, the method further includes:

[0105] During the process from the start of marking the reference work section to the stop of marking the reference work section, the mobile device is controlled to perform the work.

[0106] Understandably, for mobile devices, during the process of determining the baseline work route, the mobile device can be controlled to perform tasks such as seeding and pesticide spraying while flying or traveling along the baseline work route. This solution, through this setup, can save power consumption of the mobile device, ensuring that for mobile devices with a certain range, the proportion of effective work is increased, unnecessary energy consumption is reduced, and the effective range is increased. Furthermore, it eliminates the need to determine a second boundary before starting work, which helps improve work efficiency.

[0107] Figure 9 A flowchart of another method for planning the work route of a mobile device provided in this embodiment of the invention is shown. Specifically, this embodiment optimizes the method by: obtaining a second boundary for limiting the position of the other endpoint of the baseline work route and the remaining work routes, including: when the mobile device moves along the baseline work route to the endpoint position of the baseline work route, obtaining second position information and second direction information of the mobile device according to a second marking instruction; and determining the second boundary based on the second position information and the second direction information. Figure 9 As shown, this solution specifically includes the following steps:

[0108] S901. Obtain the first boundary of one of the endpoint locations of the work segment used to restrict mobile equipment.

[0109] S902. Obtain the reference work section of the mobile device and generate the remaining work sections parallel to the reference work section.

[0110] S903. When the mobile device moves along the reference work section to the end position of the reference work section, the second position information and the second direction information of the mobile device are obtained according to the second marking instruction.

[0111] Whether the mobile device has moved to the end point of the baseline work section can be determined by the user based on on-site observation or by image information from a top-down view acquired by the mobile device. When the user determines that they have moved to the end point of the baseline work section, they can issue a second tracking command. This second tracking command can be a tracking command used during the switching process of the drone's work section. Based on the point position information obtained by the drone during the switching process from the second tracking command, a second position information can be determined, and based on the pointing directions of multiple point position information, a second direction information can be determined.

[0112] S904. Determine the second boundary based on the second position information and the second direction information.

[0113] With the second position information and the second direction information clearly defined, the second boundary can be determined.

[0114] It is understandable that, in addition to obtaining the work segment switching process mentioned above, the second location information can also be obtained through other methods. For example, it can be manually drawn by the user in a mobile application, or other methods, which are not specifically limited here.

[0115] In one feasible embodiment, optionally, the first boundary and the second boundary are used to characterize the two relative boundary lines of the target plot area or the edge area of ​​the target crop, or the first boundary and the second boundary are used to characterize the straight line where the switching path or the tangent of the switching path is located between the proposed operating routes of the mobile device.

[0116] The target plot area can be understood as a plot of land that is not divided by crop rows, but rather the entire area is sown in the same way, such as wheat sowing without dividing it into planting ridges. The edge area of ​​the target crop can be understood as the area defined by the outer edge of one or more crop rows.

[0117] When a drone operates on multiple crop rows, it not only flies along the crop rows, but also switches between crop rows at the end of the crop rows. The route obtained by this switching can be determined as the row switching path.

[0118] Understandably, in one implementation, the first boundary and the second boundary are the boundaries formed by multiple cross-row paths at both ends of the crop row.

[0119] The method of determining the first and second boundaries by changing the route described above can be obtained directly during the operation of mobile equipment, without the need for the user to specifically specify the first and second boundaries for the planning of the operation section.

[0120] Figure 10 This is a schematic diagram illustrating the process of determining a first boundary and a second boundary, as provided in an embodiment of the present invention. Figure 10 As shown, Figure 10The gray area also represents crop rows. Users can control the drone to fly to the first crop row in the work area where work needs to begin. Then, using the flight path as a reference point, the drone is controlled to fly from end 1 to end 2 within the first crop row. The drone's heading and current position at end 1 are obtained using relevant buttons to define the first boundary. The drone is then controlled to work along the centerline of the first crop row and fly to the corresponding end 2, thus obtaining the baseline work segment. Knowing the direction and position of the baseline work segment, multiple other work segments on either side can be generated based on the baseline work segment and pre-set work parameters. When the drone reaches the end of the baseline work segment, i.e., end 2, it can directly switch crop rows. Based on the drone's switching direction, the user can select either the left or right side of the first work flight path as a valid work segment and begin work. Furthermore, the second boundary can be obtained based on the method described above, or directly based on the tangent of the drone's switching path.

[0121] S905, Update the proposed operation route of the mobile device.

[0122] This embodiment, based on the above embodiments, provides a method for determining the second boundary. Based on this method, the second boundary can be quickly and accurately determined during the use of mobile devices, combined with user operations, thus improving the planning efficiency of the entire work section.

[0123] Based on the above embodiments, optionally, obtaining the second location information and second orientation information of the mobile device includes:

[0124] The second position information is obtained by acquiring multiple trajectory point position information of the mobile device during the marking process; the second direction information is obtained by fitting the multiple trajectory point position information in the second position information, or by obtaining the second direction information by connecting two trajectory points at a preset interval in the second position information; or

[0125] Obtain the current location information of the mobile device to obtain second location information, and determine the second direction information based on the current orientation of the mobile device; or

[0126] Obtain the switching path of the mobile device from the baseline work section to another work section; and obtain the second location information and the second direction information based on the switching path.

[0127] During the point-marking process, the mobile device can acquire multiple trajectory point location information, and one or more of these trajectory point location information can be determined as the second location information. The second direction information is obtained by fitting the multiple trajectory point location information in the second location information, or by obtaining the second direction information by connecting two trajectory points at a preset interval in the second location information.

[0128] Among them, by fitting the position information of multiple trajectory points to a straight line, the second direction information can be obtained, or it can be determined that the direction of the second boundary is parallel to the fitted straight line.

[0129] In addition, a second direction can be determined based on the location information and the drone's pointing information.

[0130] In addition to the two methods mentioned above, the second direction information can also be determined based on the switching path from the baseline work segment to another work segment. It is understood that this switching path is obtained based on the user's operation instructions. For example, if the user wants to switch from the current baseline work segment to the second planned work segment, the second boundary can be determined based on the path generated during this switching process.

[0131] This embodiment provides multiple methods for determining the second boundary, which can meet different user needs. The logic for determining the second boundary is easy to understand, requiring no extensive user training and making it simple and easy to use.

[0132] In one feasible embodiment, optionally, generating additional work segments parallel to the baseline work segment includes:

[0133] Obtain the operation parameters for the work section;

[0134] Based on the operation parameters and the baseline operation section, other operation sections parallel to the baseline operation section are generated; wherein, the other operation sections are distributed on one or both sides of the baseline operation section.

[0135] In a real-world scenario, the drone will operate according to preset parameters, including atomization volume, spray volume, flight speed, flight altitude, application rate per acre, and the number of rows of crops covered. It will perform operations on a baseline work area. When the user deems the drone's work on the baseline work area complete, they can remotely output a command to end the operation. Alternatively, the user can disable the drone's operational function and only perform flight operations via a mobile application.

[0136] Based on the operational parameters, users can control a drone via remote control to the baseline operational section within the target operational area. Since users have already set the relevant operational parameters through the display terminal application before starting the operation, or the default operational parameters based on the current operational type are synchronized to the application from the cloud, after obtaining the first boundary, users can use their experience to remotely control the drone to fly to the starting point of the operation and control the drone's nose to face the operational direction. The operational direction can be obtained simultaneously with the starting point, such as controlling the drone to fly to the starting point and then controlling the drone to face the operational direction, and then clicking a confirmation button. Alternatively, it can be obtained separately, such as controlling the drone to fly to the starting point and clicking a confirmation button, and then controlling the drone to face the operational direction and clicking a confirmation button again, obtaining the information in two steps. In this way, a baseline operational section can be generated based on the operational starting point and operational direction, and other operational sections can be generated based on the baseline operational section.

[0137] This embodiment provides a method for obtaining operation parameters and a method for generating other operation segments based on the operation parameters. By setting it up in this way, the accuracy of the operation segment planning results can be improved, and the planned operation segments can match the actual operation segments.

[0138] Figure 11 This is a schematic diagram of a module for a mobile device's operation route planning apparatus according to an embodiment of the present invention. This apparatus is used to execute the mobile device's operation route planning method described above, and has corresponding functional modules and beneficial effects for executing the method. For example... Figure 11 As shown, the device specifically includes:

[0139] The first boundary acquisition module 1101 is used to acquire the first boundary of one of the endpoints of the work section used to restrict mobile equipment;

[0140] The baseline work section acquisition module 1102 is used to acquire the baseline work section of the mobile device and generate other work sections parallel to the baseline work section.

[0141] The proposed operation route determination module 1103 is used to obtain a second boundary for limiting the other endpoint position of the baseline operation route and the remaining operation routes, and update the proposed operation route of the mobile device.

[0142] In this embodiment of the device, a first boundary acquisition module is used to acquire a first boundary for restricting one endpoint of the work segment of the mobile device; a reference work segment acquisition module is used to acquire the reference work segment of the mobile device and generate the remaining work segments parallel to the reference work segment; and a proposed work route determination module is used to acquire a second boundary for restricting the other endpoint of the reference work segment and the remaining work segments, and update the proposed work route of the mobile device. This solution, by acquiring the first boundary of the work segment, the reference work segment, and the second boundary of the work segment, simplifies the user's operation in determining the work area during the use of the mobile device, improves work efficiency, and enhances the user experience.

[0143] Figure 12 This is a structural schematic diagram of a mobile device's work route planning device provided in an embodiment of the present invention, as shown below. Figure 12 As shown, the device includes a processor 1201, a memory 1202, an input device 1203, and an output device 1204; the number of processors 1201 in the device can be one or more. Figure 12 Taking a processor 1201 as an example; the processor 1201, memory 1202, input device 1203, and output device 1204 in the device can be connected via a bus or other means. Figure 12 Taking a bus connection as an example, the memory 1202, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the mobile device's route planning method in this embodiment of the invention. The processor 1201 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 1202, thereby realizing the aforementioned mobile device target determination method. The input device 1203 can be used to receive input digital or character information and generate key signal inputs related to the device's user settings and function control. The output device 1204 may include a display screen or other display device.

[0144] This invention also provides a storage medium containing computer-executable instructions, which can be stored in the form of a server application. When executed by a computer processor, the computer-executable instructions are used to perform a job routing method for a mobile device, the method comprising:

[0145] Obtain the first boundary at one of the endpoints of the work segment used to restrict mobile equipment;

[0146] Obtain the baseline work route of the mobile device, and generate the remaining work routes parallel to the baseline work route;

[0147] Obtain a second boundary to limit the location of the other endpoint of the baseline work segment and the remaining work segments, and update the proposed work route of the mobile device.

[0148] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0149] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile device, mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0150] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for planning the operation route of a mobile device, characterized in that, The method includes: Obtain a first boundary for the location of one endpoint of a work segment used to restrict mobile devices, wherein the first boundary is the boundary of a work area where the endpoint is located; Obtain the baseline work segment of the mobile device and generate the remaining work segments parallel to the baseline work segment. The baseline work segment is the basic work segment used to generate the remaining work segments parallel to it. Obtain a second boundary to limit the location of the other endpoint of the baseline work segment and the remaining work segments, and update the proposed work route of the mobile device.

2. The method for planning the operation route of a mobile device according to claim 1, characterized in that, Obtaining the first boundary at one endpoint location of the work segment used to restrict mobile equipment includes: The first position information and first orientation information of the mobile device are obtained according to the first dot instruction; The first boundary is determined based on the first location information and the first direction information.

3. The method for planning the operation route of a mobile device according to claim 2, characterized in that, Obtaining the first location information and first orientation information of the mobile device includes: The first position information is obtained by acquiring multiple trajectory point position information of the mobile device during the marking process; the first direction information is obtained by fitting the multiple trajectory point position information in the first position information, or by obtaining the first direction information by connecting two trajectory points at a preset interval in the first position information; or The current location information of the mobile device is obtained to obtain first location information, and the first direction information is determined based on the current orientation of the mobile device.

4. The method for planning the operation route of a mobile device according to claim 1, characterized in that, Obtaining the reference operating route for the mobile device includes: Based on the route generation instructions, the current location and orientation information of the mobile device are obtained to determine the baseline work section, or The reference work section is determined based on the travel trajectory information of the mobile device during the process from the start of marking points on the reference work section to the end of marking points on the reference work section; or The reference work section is determined based on the starting position of the mobile device when it begins marking the reference work section and the ending position when it stops marking the reference work section.

5. The method for planning the operation route of a mobile device according to claim 4, characterized in that, The reference work section of the mobile device is obtained in boundary marking mode, and the reference work section is determined, including: The current boundary information is determined based on the current location and pointing information of the mobile device, or the travel trajectory information, or the starting and ending positions; the benchmark operation section is determined based on the current boundary information and the preset distance between the boundary and the route. Alternatively, the reference work route of the mobile device is obtained in route marking mode, and the reference work route is determined by: Starting from the current location of the mobile device and using the directional information as the direction of travel, the baseline work section is generated; or The route generated using the aforementioned trajectory information is used as the baseline work section; or The line connecting the starting position and the ending position is used as the reference work section.

6. The method for planning the operation route of a mobile device according to claim 4, characterized in that, The method further includes: During the process from the start of marking the reference work section to the stop of marking the reference work section, the mobile device is controlled to perform the work.

7. The method for planning the operation route of a mobile device according to claim 1, characterized in that, Obtaining a second boundary for defining the location of the other endpoint of the baseline work segment and the remaining work segments includes: When the mobile device moves along the reference work section to the end position of the reference work section, the second position information and the second direction information of the mobile device are obtained according to the second marking instruction; The second boundary is determined based on the second position information and the second direction information.

8. The method for planning the operation route of a mobile device according to claim 7, characterized in that, Obtaining the second location information and second orientation information of the mobile device includes: The second position information is obtained by acquiring multiple trajectory point position information of the mobile device during the marking process; the second direction information is obtained by fitting the multiple trajectory point position information in the second position information, or by obtaining the second direction information by connecting two trajectory points at a preset interval in the second position information; or Obtain the current location information of the mobile device to obtain second location information, and determine the second direction information based on the current orientation of the mobile device; or Obtain the switching path of the mobile device from the baseline work section to another work section; and obtain the second location information and the second direction information based on the switching path.

9. The method for planning the operation route of a mobile device according to claim 1, characterized in that, Generate the remaining work sections parallel to the baseline work section, including: Obtain the operation parameters for the work section; Based on the operation parameters and the benchmark operation section, other operation sections parallel to the benchmark operation section are generated; wherein, the other operation sections are distributed on one or both sides of the benchmark operation section.

10. The method for planning the operation route of a mobile device according to claim 1, characterized in that, The first boundary and the second boundary are used to characterize the two relative boundary lines of the target plot area or the edge area of ​​the target crop, or the first boundary and the second boundary are used to characterize the straight line where the switching path between the proposed operation routes of the mobile device is located or the straight line where the tangent of the switching path is located.

11. The method for planning the operation route of a mobile device according to claim 1, characterized in that, The method further includes: Before acquiring the second boundary, control the mobile device to perform operations along the baseline work section to the end position of the baseline work section; After obtaining the second boundary, control the mobile device to perform the operation along the proposed operation route.

12. The method for planning the operation route of a mobile device according to claim 1, characterized in that, After updating and obtaining the proposed operating route of the mobile device, the method further includes: Based on the fourth operation instruction, the target operation route of the mobile device is determined from the proposed operation route; wherein, the fourth operation instruction includes a turning operation instruction issued from the first control terminal or a selection operation instruction issued from the second control terminal.

13. A working route planning device for a mobile device, characterized in that, The device includes: The first boundary acquisition module is used to acquire a first boundary for the location of one endpoint of the work section used to restrict mobile devices, wherein the first boundary is the boundary of a work area where the endpoint is located; The baseline work section acquisition module is used to acquire the baseline work section of the mobile device and generate other work sections parallel to the baseline work section. The baseline work section is the basic work section used to generate other work sections parallel to it. The proposed operation route determination module is used to obtain a second boundary for limiting the other endpoint position of the baseline operation route and the remaining operation routes, and update the proposed operation route of the mobile device.

14. A mobile device for planning work routes, the device comprising: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the work route planning method for a mobile device according to any one of claims 1-12.

15. A storage medium storing computer-executable instructions, which, when executed by a computer processor, are used to perform the operation route planning method of the mobile device according to any one of claims 1-12.

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