An air route recording method, system, computer device and readable storage medium

Abstract

The application provides a route recording method and system, computer equipment and a readable storage medium. The route recording method is applied to a route recording system. The system comprises an unmanned vehicle and a user terminal. The unmanned vehicle starts visual following at a starting point of a first driving path and simultaneously starts route recording. When the unmanned vehicle drives to an ending point of the first driving path, the visual following is stopped. The user terminal acquires a space image of a space where the unmanned vehicle is located, receives a control instruction input by a user based on the space image, and sends the control instruction to the unmanned vehicle. The unmanned vehicle turns from the ending point of the first driving path to a starting point of a second driving path in response to the control instruction sent by the user terminal and starts the visual following.

Description

Technical Field

[0001] This invention relates to the field of route information collection, and more specifically, to a route recording method, system, computer equipment, and readable storage medium. Background Technology

[0002] In existing technologies, route recording is mainly done by remotely controlling unmanned vehicles. Operators remotely control the unmanned vehicles to travel along each path, thereby recording the location information they have passed. After the route is recorded, it becomes the basis for automation. The unmanned vehicles can reuse the route in the future, thereby reducing human labor and improving production efficiency.

[0003] The study found that when recording flight routes using the aforementioned method, operators need to manually remotely control the unmanned vehicle (UAV). This means that the UAV's driving status must be controlled throughout the entire recording process to ensure it travels along each path. Furthermore, to control the UAV's turning, operators typically need to walk alongside it, visually observing its real-time position and surrounding environment before making steering adjustments. In other words, this method not only requires manual remote control of the UAV for its movement but also necessitates operators walking alongside it to control its turning, thus increasing the labor costs associated with flight route data collection. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, system, computer equipment and readable storage medium for recording flight routes, so as to reduce the manpower costs required for flight route collection.

[0005] In a first aspect, embodiments of this application provide a route recording method, applied to a route recording system, the system including an unmanned vehicle and a user terminal, the method including;

[0006] The unmanned vehicle initiates visual following and simultaneously begins route recording at the starting point of the first driving path; when the unmanned vehicle reaches the end point of the first driving path, the visual following stops.

[0007] The user terminal acquires a spatial image of the space where the unmanned vehicle is located, receives control commands input by the user based on the spatial image, and sends the control commands to the unmanned vehicle.

[0008] The unmanned vehicle responds to the control command sent by the user terminal, turns from the end of the first driving path to the beginning of the second driving path, and initiates the visual following.

[0009] Optionally, the unmanned vehicle initiates visual following at the starting point of the first driving path, including:

[0010] The unmanned vehicle visually identifies the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located at the starting point of the first driving path.

[0011] The unmanned vehicle follows the center line between each pair of adjacent rows of crops.

[0012] Optionally, the unmanned vehicle, at the starting point of the first driving path, visually identifies the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located, including:

[0013] At the starting point of the first driving path, the unmanned vehicle collects point cloud data of the space where the unmanned vehicle is located through its onboard point cloud acquisition module. The point cloud data is used to indicate multiple rows of crops in the space where the unmanned vehicle is located.

[0014] The unmanned vehicle determines the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located based on the point cloud data.

[0015] Optionally, the unmanned vehicle determines the centerline between every two rows of adjacent crops in the space where the unmanned vehicle is located based on the point cloud data, including:

[0016] The unmanned vehicle filters the point cloud data to obtain target point cloud data used to indicate the boundaries of each row of crops.

[0017] For the target point cloud data used to indicate the boundaries of each two rows of adjacent crops, the unmanned vehicle determines the centerline between the two rows of adjacent crops based on the target point cloud data used to indicate the boundaries of the two rows of adjacent crops.

[0018] Optionally, the unmanned vehicle begins route recording, including:

[0019] The unmanned vehicle records its current location in real time.

[0020] The method further includes:

[0021] At the end of the route recording, the unmanned vehicle uses the recorded multiple positioning locations to generate a route in order to achieve route recording.

[0022] Optionally, the user terminal acquires a spatial image of the space where the unmanned vehicle is located, including:

[0023] The user terminal acquires spatial images captured by the unmanned vehicle through its onboard image acquisition module;

[0024] Alternatively, the user terminal may acquire spatial images containing the unmanned vehicle, captured by image acquisition modules deployed in the space where the unmanned vehicle is located.

[0025] Optionally, the image acquisition module consists of a camera controller and multiple cameras;

[0026] The user terminal acquires spatial images containing the unmanned vehicle, captured by image acquisition modules deployed in the space where the unmanned vehicle is located, including:

[0027] The camera controller determines the target camera based on the real-time position of the unmanned vehicle and the arrangement position of each camera. The multiple cameras are arranged in the space where the unmanned vehicle is located at a preset density, and the target camera is the camera whose arrangement position is closest to the real-time position of the unmanned vehicle.

[0028] The camera controller controls the target camera to acquire the spatial image and sends the spatial image to the user terminal;

[0029] The user terminal receives the spatial image sent by the camera controller.

[0030] Secondly, embodiments of this application provide a flight route recording system, the system including an unmanned vehicle and a user terminal;

[0031] The unmanned vehicle is used to initiate visual following and simultaneously start route recording at the starting point of the first driving path; when the unmanned vehicle reaches the end point of the first driving path, the visual following is stopped.

[0032] The user terminal is used to acquire a spatial image of the space where the unmanned vehicle is located, receive control commands input by the user based on the spatial image, and send the control commands to the unmanned vehicle.

[0033] The unmanned vehicle is used to respond to the control command sent by the user terminal, turn from the end of the first driving path to the beginning of the second driving path, and start the visual following.

[0034] Optionally, when the autonomous vehicle initiates visual following at the starting point of the first driving path, it is specifically used for:

[0035] At the starting point of the first driving path, the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located is visually identified;

[0036] Follow the center line between each pair of adjacent rows of crops.

[0037] Optionally, when the unmanned vehicle visually identifies the centerline between every two rows of adjacent crops in the space where the unmanned vehicle is located at the starting point of the first driving path, it is specifically used for:

[0038] At the starting point of the first driving path, point cloud data of the space where the unmanned vehicle is located is collected by the point cloud acquisition module on board. The point cloud data is used to indicate multiple rows of crops in the space where the unmanned vehicle is located.

[0039] The center line between every two rows of adjacent crops in the space where the unmanned vehicle is located is determined based on the point cloud data.

[0040] Optionally, when the unmanned vehicle determines the centerline between every two rows of adjacent crops in the space where the unmanned vehicle is located based on the point cloud data, it is specifically used for:

[0041] The point cloud data is filtered to obtain target point cloud data used to indicate the boundaries of each row of crops;

[0042] For the target point cloud data used to indicate the boundaries of each two rows of adjacent crops, the centerline between the two rows of adjacent crops is determined based on the target point cloud data used to indicate the boundaries of the two rows of adjacent crops.

[0043] Optionally, when the unmanned vehicle is used to start route recording, it is specifically used for:

[0044] Record the current location in real time;

[0045] At the end of the route recording, the unmanned vehicle is also used to generate a route using the recorded multiple positioning locations to achieve route recording.

[0046] Optionally, when the user terminal acquires a spatial image of the space where the unmanned vehicle is located, it is specifically used for:

[0047] Acquire spatial images captured by the unmanned vehicle through its onboard image acquisition module;

[0048] Alternatively, obtain spatial images containing the unmanned vehicle captured by image acquisition modules arranged in the space where the unmanned vehicle is located.

[0049] Optionally, the image acquisition module consists of a camera controller and multiple cameras;

[0050] The user terminal is used to acquire spatial images containing the unmanned vehicle, obtained by image acquisition modules deployed in the space where the unmanned vehicle is located, including:

[0051] The camera controller is used to determine the target camera based on the real-time position of the unmanned vehicle and the arrangement position of each camera, wherein multiple cameras are arranged in the space where the unmanned vehicle is located at a preset density, and the target camera is the camera whose arrangement position is closest to the real-time position of the unmanned vehicle.

[0052] The camera controller is used to control the target camera to acquire the spatial image and send the spatial image to the user terminal;

[0053] The user terminal is used to receive the spatial image sent by the camera controller.

[0054] Thirdly, embodiments of this application provide a computer device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the flight route recording method described in any of the optional embodiments of the first aspect are performed.

[0055] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the route recording method described in any of the optional embodiments of the first aspect.

[0056] The technical solution provided in this application includes, but is not limited to, the following beneficial effects:

[0057] This application enables visual following at the starting point of each driving path when using unmanned vehicles (UAVs) for route recording. This allows the UAVs to drive automatically along each path without requiring remote control by operators, thus avoiding wasted manpower during route recording. Simultaneously, since the user terminal acquires spatial images of the UAV's location during route recording, operators can directly understand the environmental conditions through the user terminal and then issue control commands to control the UAV's movement, enabling it to turn. In other words, operators do not need to walk alongside the UAV during route recording, thereby reducing the manpower costs required for route recording.

[0058] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0059] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A flowchart of a flight route recording method provided in Embodiment 1 of the present invention is shown;

[0061] Figure 2 A flowchart of a visual following method provided in Embodiment 1 of the present invention is shown;

[0062] Figure 3 This diagram illustrates a crop centerline according to Embodiment 1 of the present invention.

[0063] Figure 4 A flowchart of a centerline identification method provided in Embodiment 1 of the present invention is shown;

[0064] Figure 5 The flowchart of a specific centerline identification method provided in Embodiment 1 of the present invention is shown;

[0065] Figure 6 A flowchart of a spatial image acquisition method provided in Embodiment 1 of the present invention is shown;

[0066] Figure 7 A schematic diagram of the structure of a flight route recording system provided in Embodiment 2 of the present invention is shown;

[0067] Figure 8 A schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention is shown. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0069] Example 1

[0070] To facilitate understanding of this application, the following is combined with... Figure 1 The flowchart illustrating a route recording method provided in Embodiment 1 of the present invention will be described in detail for Embodiment 1 of this application.

[0071] See Figure 1 The above, Figure 1 A flowchart of a flight route recording method according to Embodiment 1 of the present invention is shown, wherein the method is applied to a flight route recording system, the system including an unmanned vehicle and a user terminal, and the method includes steps S101 to S103:

[0072] S101: The unmanned vehicle starts visual following and synchronously begins route recording at the starting point of the first driving path; when the unmanned vehicle reaches the end point of the first driving path, the visual following stops.

[0073] Specifically, when recording flight routes using an autonomous vehicle, visual tracking is initiated at the starting point of the first driving path as the vehicle travels from its origin to its destination. Flight route recording begins simultaneously until the vehicle reaches the destination. Since the crop lines on both sides have reached their end, visual tracking can no longer continue, so the vehicle stops visual tracking. At this point, the vehicle can stop driving and send a reminder message, waiting for the user to take over steering control and record the steering route.

[0074] S102: The user terminal acquires a spatial image of the space where the unmanned vehicle is located, receives control commands input by the user based on the spatial image, and sends the control commands to the unmanned vehicle.

[0075] Specifically, to enable users to understand the spatial environment of the autonomous vehicle, the user terminal acquires a spatial image of the vehicle's location. After acquiring the spatial image, the user can input control commands for steering the autonomous vehicle based on the image. Upon receiving the control commands, the user terminal sends them to the autonomous vehicle to enable it to steer.

[0076] S103: The unmanned vehicle responds to the control command sent by the user terminal, turns from the end of the first driving path to the beginning of the second driving path, and initiates the visual following.

[0077] Specifically, the unmanned vehicle responds to the control commands sent by the user terminal, turns from the end of the first driving path to the beginning of the second driving path according to the instructions of the control commands, and initiates visual following to realize the automatic driving of the unmanned vehicle on the second driving path.

[0078] In one feasible implementation plan, see Figure 2 As shown, Figure 2 The flowchart of a vision-following method provided in Embodiment 1 of the present invention is shown, wherein the unmanned vehicle initiates vision-following at the starting point of the first driving path, including steps S201 to S202:

[0079] S201: At the starting point of the first driving path, the unmanned vehicle visually identifies the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located.

[0080] For details, see Figure 3 As shown, Figure 3 The diagram illustrates a crop centerline according to Embodiment 1 of the present invention. In the field, multiple rows of crops are arranged, and an unmanned vehicle (UAV) can travel between the crops to perform spraying and other operations. To enable the UAV to drive automatically, a flight path needs to be recorded first. To ensure the UAV maintains the maximum safe distance from surrounding crops during its journey, it needs to visually identify the centerline between every two rows of adjacent crops at the starting point of the first travel path. This centerline must be equidistant from the crops on either side.

[0081] S202: The unmanned vehicle follows the center line between every two rows of adjacent crops.

[0082] Specifically, the unmanned vehicle follows the center line between every two rows of adjacent crops to enable it to drive automatically on a path that maintains the maximum safe driving distance from the surrounding crops.

[0083] In one feasible implementation plan, see Figure 4 As shown, Figure 4 The flowchart of a centerline recognition method provided in Embodiment 1 of the present invention is shown, wherein the unmanned vehicle visually identifies the centerline between every two rows of adjacent crops in the space where the unmanned vehicle is located at the starting point of the first driving path, including steps S401 to S402:

[0084] S401: At the starting point of the first driving path, the unmanned vehicle collects point cloud data of the space where the unmanned vehicle is located through its onboard point cloud acquisition module, wherein the point cloud data is used to indicate multiple rows of crops in the space where the unmanned vehicle is located.

[0085] S402: The unmanned vehicle determines the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located based on the point cloud data.

[0086] Specifically, in addition to obtaining the centerline between each two rows of adjacent crops in the space where the unmanned vehicle is located by the point cloud data collected by the point cloud acquisition module on the unmanned vehicle, the centerline between each two rows of adjacent crops in the space where the unmanned vehicle is located can also be obtained by the following method: the spatial image of the space where the unmanned vehicle is located is acquired by the image acquisition module on the vehicle, and then the spatial image is input into the trained centerline recognition model to obtain the centerline between each two rows of adjacent crops.

[0087] In one feasible implementation plan, see Figure 5 As shown, Figure 5 The flowchart illustrates a specific centerline identification method provided in Embodiment 1 of the present invention, wherein the unmanned vehicle determines the centerline between every two rows of adjacent crops in the space where the unmanned vehicle is located based on the point cloud data, including steps S501 to S502:

[0088] S501: The unmanned vehicle filters the point cloud data to obtain target point cloud data used to indicate the boundaries of each row of crops.

[0089] Specifically, filtering methods include, but are not limited to, filtering using a pass-through filter or filtering using a voxel filter.

[0090] S502: For the target point cloud data used to indicate the boundary between each two rows of adjacent crops, the unmanned vehicle determines the centerline between the two rows of adjacent crops based on the target point cloud data used to indicate the boundary between the two rows of adjacent crops.

[0091] Specifically, for the target point cloud data used to indicate the boundaries of each two rows of adjacent crops, the unmanned vehicle generates the boundaries of the two rows of adjacent crops based on the target point cloud data used to indicate the boundaries of the two rows of adjacent crops; the unmanned vehicle determines the center line of the boundaries of the two rows of adjacent crops as the center line between the two rows of adjacent crops.

[0092] In one feasible implementation, the unmanned vehicle begins route recording, including:

[0093] The unmanned vehicle records its current location in real time.

[0094] Specifically, autonomous vehicles use a positioning system (such as GPS) to record their location in real time during operation.

[0095] The method further includes:

[0096] At the end of the route recording, the unmanned vehicle uses the recorded multiple positioning locations to generate a route in order to achieve route recording.

[0097] Specifically, after the route recording is completed, the unmanned vehicle marks the coordinate points of multiple positioning locations on the coordinate system or electronic map, and then performs curve fitting on the marked position points on the coordinate system or electronic map to obtain the route trajectory, so as to realize the route recording.

[0098] In one feasible implementation, the user terminal acquires a spatial image of the space where the unmanned vehicle is located, including:

[0099] The user terminal acquires spatial images captured by the unmanned vehicle through its onboard image acquisition module; or, the user terminal acquires spatial images containing the unmanned vehicle captured by image acquisition modules arranged in the space where the unmanned vehicle is located.

[0100] Specifically, the user terminal acquires spatial images of the space where the autonomous vehicle is located in two ways. The first method is: the autonomous vehicle captures spatial images of its location using its onboard image acquisition module; the autonomous vehicle then sends these spatial images to the user terminal; the user terminal receives the spatial images. The second method is: the image acquisition module, positioned within the space where the autonomous vehicle is located, captures spatial images of the autonomous vehicle; the image acquisition module then sends these spatial images to the user terminal, or the image acquisition module sends the spatial images to the autonomous vehicle, which in turn sends them to the user terminal; the user terminal receives the spatial images.

[0101] In one feasible implementation, the image acquisition module consists of a camera controller and multiple cameras; see [link to relevant documentation]. Figure 6 As shown, Figure 6 The flowchart of a spatial image acquisition method provided in Embodiment 1 of the present invention is shown, wherein the user terminal acquires a spatial image containing the unmanned vehicle captured by an image acquisition module arranged in the space where the unmanned vehicle is located, including steps S601 to S603:

[0102] S601: The camera controller determines the target camera based on the real-time position of the unmanned vehicle and the arrangement position of each camera, wherein multiple cameras are arranged in the space where the unmanned vehicle is located at a preset density, and the target camera is the camera whose arrangement position is closest to the real-time position of the unmanned vehicle.

[0103] Specifically, the camera controller determines the target camera based on the real-time position of the autonomous vehicle and the placement of each camera, including: determining the distance between the autonomous vehicle and each camera based on the real-time position of the autonomous vehicle and the placement of each camera; and identifying the camera with the shortest distance to the autonomous vehicle as the target camera.

[0104] S602: The camera controller controls the target camera to acquire the spatial image and sends the spatial image to the user terminal.

[0105] Specifically, the camera controller controls the target camera to acquire spatial images. Since the target camera is the camera closest to the autonomous vehicle, the spatial images acquired by the target camera are closest to the spatial conditions that can be observed from the first-person perspective of the autonomous vehicle, and best reflect the spatial conditions that can be observed from the first-person perspective of the autonomous vehicle.

[0106] S603: The user terminal receives the spatial image sent by the camera controller.

[0107] Specifically, the user terminal receives spatial images sent by the camera controller, thereby enabling the user terminal to acquire spatial images.

[0108] Example 2

[0109] See Figure 7 As shown, Figure 7 A schematic diagram of a flight route recording system provided in Embodiment 2 of the present invention is shown, wherein the system includes an unmanned vehicle 701 and a user terminal 702;

[0110] The unmanned vehicle is used to initiate visual following and simultaneously start route recording at the starting point of the first driving path; when the unmanned vehicle reaches the end point of the first driving path, the visual following is stopped.

[0111] The user terminal is used to acquire a spatial image of the space where the unmanned vehicle is located, receive control commands input by the user based on the spatial image, and send the control commands to the unmanned vehicle.

[0112] The unmanned vehicle is used to respond to the control command sent by the user terminal, turn from the end of the first driving path to the beginning of the second driving path, and start the visual following.

[0113] In one feasible implementation, when the autonomous vehicle initiates visual following at the start of the first driving path, it is specifically used for:

[0114] At the starting point of the first driving path, the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located is visually identified;

[0115] Follow the center line between each pair of adjacent rows of crops.

[0116] In one feasible implementation, when the autonomous vehicle visually identifies the centerline between every two rows of adjacent crops in the space where the autonomous vehicle is located at the starting point of the first driving path, it is specifically used for:

[0117] At the starting point of the first driving path, point cloud data of the space where the unmanned vehicle is located is collected by the point cloud acquisition module on board. The point cloud data is used to indicate multiple rows of crops in the space where the unmanned vehicle is located.

[0118] The center line between every two rows of adjacent crops in the space where the unmanned vehicle is located is determined based on the point cloud data.

[0119] In one feasible implementation, when the unmanned vehicle is used to determine the centerline between every two rows of adjacent crops in the space where the unmanned vehicle is located based on the point cloud data, it is specifically used for:

[0120] The point cloud data is filtered to obtain target point cloud data used to indicate the boundaries of each row of crops;

[0121] For the target point cloud data used to indicate the boundaries of each two rows of adjacent crops, the centerline between the two rows of adjacent crops is determined based on the target point cloud data used to indicate the boundaries of the two rows of adjacent crops.

[0122] In one feasible implementation, when the unmanned vehicle is used to begin route recording, it is specifically used for:

[0123] Record the current location in real time;

[0124] At the end of the route recording, the unmanned vehicle is also used to generate a route using the recorded multiple positioning locations to achieve route recording.

[0125] In one feasible implementation, when the user terminal acquires a spatial image of the space where the unmanned vehicle is located, it is specifically used for:

[0126] Acquire spatial images captured by the unmanned vehicle through its onboard image acquisition module;

[0127] Alternatively, obtain spatial images containing the unmanned vehicle captured by image acquisition modules arranged in the space where the unmanned vehicle is located.

[0128] In one feasible implementation, the image acquisition module consists of a camera controller and multiple cameras;

[0129] The user terminal is used to acquire spatial images containing the unmanned vehicle, obtained by image acquisition modules deployed in the space where the unmanned vehicle is located, including:

[0130] The camera controller is used to determine the target camera based on the real-time position of the unmanned vehicle and the arrangement position of each camera, wherein multiple cameras are arranged in the space where the unmanned vehicle is located at a preset density, and the target camera is the camera whose arrangement position is closest to the real-time position of the unmanned vehicle.

[0131] The camera controller is used to control the target camera to acquire the spatial image and send the spatial image to the user terminal;

[0132] The user terminal is used to receive the spatial image sent by the camera controller.

[0133] Example 3

[0134] Based on the same application concept, see [link / reference] Figure 8 As shown, Figure 8 A schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention is shown, wherein, as Figure 8 As shown, the computer device 800 provided in Embodiment 3 of this application includes:

[0135] The computer device 800 includes a processor 801, a memory 802, and a bus 803. The memory 802 stores machine-readable instructions that can be executed by the processor 801. When the computer device 800 is running, the processor 801 communicates with the memory 802 through the bus 803. When the machine-readable instructions are executed by the processor 801, the steps of the flight route recording method shown in Embodiment 1 are performed.

[0136] Example 4

[0137] Based on the same concept, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the route recording method described in any of the above embodiments.

[0138] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0139] The computer program product for recording flight routes provided in this embodiment of the invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0140] The flight path recording system provided in this embodiment of the invention can be specific hardware on a device or software or firmware installed on the device. The system provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned method embodiments. For the sake of brevity, any parts not mentioned in the system embodiments can be referred to the corresponding content in the aforementioned method embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can all be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0141] In the embodiments provided by this invention, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some communication interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] In addition, the functional units in the embodiments provided by the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0144] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0145] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0146] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. All should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for recording flight routes, characterized in that, The method is applied to a flight path recording system, the system including an unmanned vehicle and a user terminal, and includes: The unmanned vehicle initiates visual following and simultaneously begins route recording at the starting point of the first driving path; When the autonomous vehicle reaches the end of the first driving path, the visual following stops; The user terminal acquires a spatial image of the space where the unmanned vehicle is located, receives control commands input by the user based on the spatial image, and sends the control commands to the unmanned vehicle. The unmanned vehicle responds to the control command sent by the user terminal, turns from the end of the first driving path to the beginning of the second driving path, and initiates the visual following. The autonomous vehicle initiates visual following at the starting point of the first driving path, including: The unmanned vehicle visually identifies the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located at the starting point of the first driving path. The unmanned vehicle follows the center line between each pair of adjacent rows of crops.

2. The method according to claim 1, characterized in that, The unmanned vehicle, at the starting point of the first driving path, visually identifies the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located, including: At the starting point of the first driving path, the unmanned vehicle collects point cloud data of the space where the unmanned vehicle is located through its onboard point cloud acquisition module. The point cloud data is used to indicate multiple rows of crops in the space where the unmanned vehicle is located. The unmanned vehicle determines the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located based on the point cloud data.

3. The method according to claim 2, characterized in that, The unmanned vehicle determines the center line between every two rows of adjacent crops in the space where it is located based on the point cloud data, including: The unmanned vehicle filters the point cloud data to obtain target point cloud data used to indicate the boundaries of each row of crops. For the target point cloud data used to indicate the boundaries of each two rows of adjacent crops, the unmanned vehicle determines the centerline between the two rows of adjacent crops based on the target point cloud data used to indicate the boundaries of the two rows of adjacent crops.

4. The method according to claim 1, characterized in that, The unmanned vehicle begins recording its flight path, including: The unmanned vehicle records its current location in real time. The method further includes: At the end of the route recording, the unmanned vehicle uses the recorded multiple positioning locations to generate a route in order to achieve route recording.

5. The method according to claim 1, characterized in that, The user terminal acquires a spatial image of the space where the unmanned vehicle is located, including: The user terminal acquires spatial images captured by the unmanned vehicle through its onboard image acquisition module; Alternatively, the user terminal may acquire spatial images containing the unmanned vehicle, captured by image acquisition modules deployed in the space where the unmanned vehicle is located.

6. The method according to claim 5, characterized in that, The image acquisition module consists of a camera controller and multiple cameras; The user terminal acquires spatial images containing the unmanned vehicle, captured by image acquisition modules deployed in the space where the unmanned vehicle is located, including: The camera controller determines the target camera based on the real-time position of the unmanned vehicle and the arrangement position of each camera. The multiple cameras are arranged in the space where the unmanned vehicle is located at a preset density, and the target camera is the camera whose arrangement position is closest to the real-time position of the unmanned vehicle. The camera controller controls the target camera to acquire the spatial image and sends the spatial image to the user terminal; The user terminal receives the spatial image sent by the camera controller.

7. A flight path recording system, characterized in that, The system includes an unmanned vehicle and a user terminal; The unmanned vehicle is used to initiate visual following and simultaneously start route recording at the starting point of the first driving path; when the unmanned vehicle reaches the end point of the first driving path, the visual following is stopped. The user terminal is used to acquire a spatial image of the space where the unmanned vehicle is located, receive control commands input by the user based on the spatial image, and send the control commands to the unmanned vehicle. The unmanned vehicle is used to respond to the control command sent by the user terminal, turn from the end of the first driving path to the beginning of the second driving path, and start the visual following. When the autonomous vehicle initiates visual following at the starting point of the first driving path, it is specifically used for: The unmanned vehicle visually identifies the center line between every two rows of adjacent crops in the space where the unmanned vehicle is located at the starting point of the first driving path. The unmanned vehicle follows the center line between each pair of adjacent rows of crops.

8. A computer device, characterized in that, include: The computer device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the flight route recording method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the route recording method as described in any one of claims 1 to 6.

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