Unmanned aerial vehicle route planning method and device, storage medium and electronic equipment

Abstract

The invention provides a route planning method and device for an unmanned aerial vehicle, a storage medium and electronic equipment, the unmanned aerial vehicle is provided with an execution system, the execution system is used for carrying out sowing operation in the advancing direction, and the left operation amplitude is not equal to the right operation amplitude. The route planning method of the unmanned aerial vehicle comprises the following steps: planning an operation area based on the total operation amplitude of an execution system to obtain an initial linear route; the initial linear route is shifted by a preset distance in the target direction, so that a corrected target route is obtained; when the left side operation amplitude is larger than the right side operation amplitude, the target direction is the right side direction relative to the advancing direction, and otherwise, the target direction is the left side direction relative to the advancing direction. And the unmanned aerial vehicle directly travels according to the corrected target route and synchronously carries out sowing operation. And overlapping areas and blank areas do not appear, the operation area is fully covered, and the operation effect is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of path planning, and in particular to a route planning method, device, storage medium and electronic device for an unmanned aerial vehicle. Background Art

[0002] At present, the spreading system applied to drones can spread solid fertilizers, powders and other materials. As a type of drone, a plant protection drone can include a drone body and an execution system. The execution system is installed on the drone body, and the execution system can be a spreading system. For plant protection drones, how to plan the route to ensure that it can fully cover the operating area has become a difficult problem that technicians in this field are concerned about. Summary of the invention

[0003] The purpose of the present application is to provide a route planning method, device, storage medium and electronic device for a drone, so as to at least partially improve the above-mentioned problems.

[0004] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0005] In a first aspect, an embodiment of the present application provides a route planning method for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is deployed with an execution system, wherein the execution system is used to perform sowing operations along a forward direction, and the left operating amplitude is not equal to the right operating amplitude. The route planning method for the unmanned aerial vehicle comprises: planning an operating area based on the total operating amplitude of the execution system to obtain an initial straight-line route; wherein the interval between any two adjacent initial straight-line routes is equal to the total operating amplitude, and the total operating amplitude is the sum of the left operating amplitude and the right operating amplitude; offsetting the initial straight-line route to a target direction by a preset distance to obtain a corrected target route; wherein, when the left operating amplitude is greater than the right operating amplitude, the target direction is the right direction relative to the forward direction, and when the left operating amplitude is less than the right operating amplitude, the target direction is the left direction relative to the forward direction.

[0006] In this application, the drone will directly follow the corrected target route and carry out the seeding operation simultaneously. There will be no overlapping areas or blank areas, and the operation area will be fully covered to ensure the operation effect.

[0007] Optionally, the operating area is planned based on the total operating width of the execution system to obtain an initial straight-line route, including: planning the operating area based on the total operating width of the execution system to divide it into multiple sub-areas; wherein the width of the sub-area is equal to the total operating width; and determining the center line of the sub-area as the initial straight-line route.

[0008] This application plan plans the initial straight-line route reasonably and accurately to ensure that the operating range corresponding to the subsequently revised target route can fully cover the operating area.

[0009] Optionally, the UAV is an aircraft, and before planning the operating area based on the total operating range of the execution system to obtain an initial straight-line route, the route planning method of the UAV also includes: determining the left operating range and the right operating range based on the target height during the operation.

[0010] The present application scheme ensures the rationality and accuracy of the target route by accurately obtaining the left operating range and the right operating range, so as to fully cover the operating area during operation.

[0011] Optionally, the preset distance is equal to half of the absolute value of the difference between the left operating range and the right operating range. In order to minimize or avoid overlapping areas and blank areas, the preset distance can be equal to half of the absolute value of the difference between the left operating range and the right operating range.

[0012] Optionally, the UAV is an aircraft, and the execution system is a spreading system, the spreading system includes a material box, an auger conveying device and a spreading mechanism, and the spreading mechanism includes a spinner assembly; the auger conveying device is connected to the material box, and is used to transport the material in the material box to the spinner assembly for spreading.

[0013] Optionally, the spinning disc assembly includes a spinning disc and a paddle, the spinning disc rotates unidirectionally, and the paddle is arranged on the surface of one side of the spinning disc and is used to paddle the material to spread the material.

[0014] In the second aspect, an embodiment of the present application provides an operation system management method, wherein the operation system includes a drone and an execution system deployed on the drone, wherein the execution system is used to perform spreading operations along the forward direction, and the operating range on the left side is different from the operating range on the right side. The operation system management method includes: controlling the drone to travel according to the target route obtained by the above-mentioned drone route planning method; controlling the execution system to perform operations.

[0015] In a third aspect, an embodiment of the present application provides a route planning device for an unmanned aerial vehicle, wherein the unmanned aerial vehicle is deployed with an execution system, wherein the execution system is used to perform sowing operations along the forward direction, and the left operating amplitude is not equal to the right operating amplitude, and the route planning device for the unmanned aerial vehicle includes: a first processing unit, used to plan the operating area based on the total operating amplitude of the execution system to obtain an initial straight-line route; wherein the interval between any two adjacent initial straight-line routes is equal to the total operating amplitude, and the total operating amplitude is the sum of the left operating amplitude and the right operating amplitude; a second processing unit, used to offset the initial straight-line route to a target direction by a preset distance to obtain a corrected target route; wherein, when the left operating amplitude is greater than the right operating amplitude, the target direction is the right direction relative to the forward direction, and when the left operating amplitude is less than the right operating amplitude, the target direction is the left direction relative to the forward direction.

[0016] In a fourth aspect, an embodiment of the present application provides an operation system management device, wherein the operation system includes a drone and an execution system deployed on the drone, wherein the execution system is used to perform spreading operations along the forward direction, and the operating range on the left side is different from the operating range on the right side, and the operation system management device includes: a third processing unit, used to control the drone to travel along the target route obtained by the above-mentioned drone route planning method; and a fourth processing unit, used to control the execution system to perform operations.

[0017] In a fifth aspect, an embodiment of the present application provides a storage medium on which a computer program is stored, and the computer program implements the above method when executed by a processor.

[0018] In a sixth aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store one or more programs; when the one or more programs are executed by the processor, the above method is implemented.

[0019] In a seventh aspect, an embodiment of the present application provides a drone, which is deployed with an execution system and the above-mentioned electronic equipment, and the execution system is used to perform sowing operations along the forward direction, and the operating range on the left side is not equal to the operating range on the right side.

[0020] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 One of the structural schematic diagrams of the spreading system provided in the embodiment of the present application;

[0023] Figure 2 The second structural diagram of the spreading system provided in the embodiment of the present application;

[0024] Figure 3 A schematic diagram of the structure of the spreading mechanism provided in the embodiment of the present application;

[0025] Figure 4 The third structural diagram of the spreading system provided in the embodiment of the present application;

[0026] Figure 5 The fourth structural diagram of the spreading system provided in the embodiment of the present application;

[0027] Figure 6 A schematic diagram of a sowing width boundary provided in an embodiment of the present application;

[0028] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0029] Figure 8 One of the flow charts of the route planning method for a drone provided in an embodiment of the present application;

[0030] Fig. 9 A schematic diagram of an initial straight line route provided in an embodiment of the present application;

[0031] Fig.10 A schematic diagram of a target route when the target direction provided in an embodiment of the present application is the right direction relative to the forward direction;

[0032] Fig.11 Provided for the embodiments of this application Fig.10 Schematic diagram of the corresponding operation path;

[0033] Fig.12 A second flowchart of a method for planning a route for a drone provided in an embodiment of the present application;

[0034] Fig.13 A flowchart of the operating system management method provided in an embodiment of the present application;

[0035] Fig.14A schematic diagram of a unit of a route planning device for a drone provided in an embodiment of the present application;

[0036] Fig.15 A schematic diagram of a unit of an operating system management device provided in an embodiment of the present application.

[0037] In the figure: 10-processor; 11-memory; 12-bus; 13-communication interface; 100-spreading mechanism; 110-driving member; 120-connecting shaft; 130-spinning disc assembly; 131-spinning disc; 132-paddle; 133-spinning disc cover; 200-material box; 400-auger conveying device; 501-first processing unit; 502-second processing unit; 503-third processing unit; 504-fourth processing unit. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0040] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0042] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0045] The embodiment of the present application provides an operation system. The operation system includes an execution system and a drone, and the execution system is deployed on the drone. It can be applied to scenes such as agriculture and industry. In the field of plant protection, various operation equipment can be installed on the drone to achieve operations such as spreading pesticides, seeds, and powders.

[0046] Among them, the drone can be used in agricultural plant protection operations, to spread crops, and to spread solid materials such as seeds, granules, powders, etc. to the target area.

[0047] The execution system may be, but is not limited to, a spreading system. The spreading system may be used to spread solid materials such as seeds, granules, powders, etc.

[0048] The present application embodiment takes the execution system deployed on the drone as a spreading system as an example for explanation. Figure 1 and Figure 2 , Figure 1 This is one of the structural schematic diagrams of the spreading system provided in the embodiment of the present application. Figure 2 This is a second structural diagram of the spreading system provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, the sowing system includes a sowing mechanism 100 and a material box 200, wherein the material box 200 is installed on the body of the drone and is used to contain materials, such as seeds, granules, powders, etc. The sowing mechanism 100 is connected to the material box 200 and can rotate to sow the materials in the material box 200 that fall into the sowing mechanism 100. When the sowing system is performing a sowing operation, the materials in the material box 200 fall into the sowing mechanism 100, and the sowing mechanism 100 rotates to sow the materials.

[0049] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of the spreading mechanism provided in the embodiment of the present application. Figures 1 to 3 As shown, in an optional embodiment, the spreading mechanism 100 may include a driving member 110, a connecting shaft 120, and a spinning disc assembly 130. The spinning disc assembly 130 may maintain unidirectional rotation during operation.

[0050] The driving member 110 is connected to the connecting shaft 120 by transmission, and is used to drive the connecting shaft 120 to rotate, and the connecting shaft 120 is connected to the disk assembly 130 by transmission. The driving member 110 can be selected as a driving motor. During the sowing operation, the driving member 110 drives the connecting shaft 120 to rotate, and the connecting shaft 120 drives the disk assembly 130 to rotate, and the disk assembly 130 spreads the materials dropped from the material box 200. Optionally, the disk assembly 130 can include a disk 131 that rotates in one direction. The disk 131 is connected to the connecting shaft 120 by transmission, and during the operation, the disk 131 rotates with the connecting shaft 120 as the axis. The disk 131 can be optionally a disc-shaped structure. The disk 131 has a first surface and a second surface that are arranged opposite to each other. The first surface is a side surface that contacts the material when sowing the material. In addition, the disk 131 is not limited to a single disk, and can also be a double disk or more disks.

[0051] Optionally, the spinning plate 131 is horizontally arranged below the material box 200, or the spinning plate 131 is vertically arranged on one side of the material box 200. In this embodiment, the spinning plate 131 is horizontally arranged below the material box 200, and the spinning plate 131 can receive the material dropped from the material box 200 so as to spread the material.

[0052] Optionally, in order to hit and spread the material when spreading it, the disk assembly 130 may further include a paddle 132. The paddle 132 is disposed on the first surface and is used to paddle the material to spread it. Optionally, the paddle 132 is eccentrically disposed on the first surface. The paddle 132 is generally a sheet-like structure, and its shape is not specifically limited, for example, it may be a rectangular shape. The paddle 132 may be disposed perpendicular to the first surface. In addition, there may be a plurality of paddles 132, and the plurality of paddles 132 are disposed symmetrically about the center of the disk 131.

[0053] Optionally, in the embodiment of the present application, the spinning tray 131 may be in a vertical state.

[0054] In addition, in some further optional embodiments of the present application, based on any of the above embodiments, the difference is that the spreading mechanism 100 further includes a spinner cover 133, and the spreading system further includes an auger conveying device 400. For other matters not mentioned, please refer to the previous embodiments.

[0055] Among them, the disc cover 133 is connected to the auger conveying device 400, the driving member 110 is installed on the outside of the disc cover 133, the disc assembly 130 is arranged in the disc cover 133, and the end of the connecting shaft 120 away from the driving member 110 extends into the disc cover 133 and is transmission-connected to the disc assembly 130; the auger conveying device 400 is connected to the material box 200, and is used to transport the material in the material box 200 to the disc assembly 130 for sowing.

[0056] Optionally, the auger conveying device 400 may include an auger housing and an auger. The auger housing is located at the bottom of the material box 200 and is connected to the material box 200. The auger is rotatably arranged in the auger housing, and the auger housing is connected to the disk cover 133. When spreading materials, the materials enter the auger housing from the material box 200, and the auger rotates to transport the materials to the disk assembly 130, and the paddle 132 on the disk 131 hits the spreading materials.

[0057] like Figure 1 and Figure 2 The sowing system shown in the figure adopts a double-auger double-spinner structure, which has a high cost. In order to reduce the cost, the present application embodiment provides an optional implementation method, in which the sowing mechanism 100 in the sowing system adopts a single-auger single-spinner structure. Please refer to Figure 4 and Figure 5 , Figure 4 The third structural diagram of the spreading system provided in the embodiment of the present application is as follows: Figure 5 This is the fourth structural schematic diagram of the spreading system provided in the embodiment of the present application. Figure 4 and Figure 5 The structure shown is Figure 1 , Figure 2The difference between the structures shown is that the number of the spinning disc assembly 130 in the spreading mechanism 100 is 1, and the number of the auger conveying device 400 is 1, that is, it is a single auger and single spinning disc structure, and the rest of the structures are the same and will not be described in detail here.

[0058] but Figure 4 and Figure 5 When the spreading system shown is in operation, since the spinner 131 rotates unidirectionally and the auger conveying device 400 cannot convey all materials to the center of the spinner 131, the sowing width is asymmetric relative to the drone. Even if the auger conveying device 400 conveys all materials to the center of the spinner 131, the sowing width is still asymmetric. For details, please refer to Figure 6 , Figure 6 A schematic diagram of a sowing width boundary provided in an embodiment of the present application.

[0059] like Figure 6 As shown, the flight direction of the drone is towards Figure 6 In the paper, the spinning disc 131 rotates clockwise, and the material is beaten and thrown out by the paddle 132 of the spinning disc 131. The sowing amplitude R on the right side of the drone is obviously smaller than the sowing amplitude L on the left side of the drone, and there is a problem of asymmetric sowing amplitude. It should be noted that Figure 6 The sowing width boundary shown is only one possibility. The spinning disc 131 can also rotate counterclockwise. There is also a situation where the sowing width R on the right side of the drone is significantly larger than the sowing width L on the left side of the drone.

[0060] It should be noted that Figure 6 The shown sowing width (also called spreading width) can be used as a working width. Figure 6 The problem of asymmetric sowing width shown is the problem of asymmetric working width.

[0061] In order to overcome the impact of the asymmetric operation range on the operation, the embodiment of the present application provides a route planning method for a drone to plan the target route of the drone during operation. When the drone moves along the target route to perform the operation, in the case of asymmetric operation range, the impact can be overcome to achieve full coverage of the operation area. The route planning method for a drone can be applied to, but is not limited to, the electronic devices described below.

[0062] The present application embodiment provides an electronic device, which may be a central control unit of a drone, a control terminal of a drone, a mobile phone, a computer, a server, or other devices. Figure 7 , a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12, and the processor 10 is used to execute an executable module stored in the memory 11, such as a computer program.

[0063] The processor 10 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the route planning method of the drone can be completed by the hardware integrated logic circuit in the processor 10 or the instructions in the form of software. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0064] The memory 11 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0065] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 7 Although only one bidirectional arrow is used in the figure, it does not mean that there is only one bus 12 or only one type of bus 12 .

[0066] The memory 11 is used to store programs, such as programs corresponding to the route planning device of the drone. The route planning device of the drone includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or fixed in the operating system (OS) of the electronic device. After receiving the execution instruction, the processor 10 executes the program to implement the route planning method of the drone.

[0067] Optionally, the electronic device provided in the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus. When the electronic device is not the central control unit of the mobile platform, the electronic device can be connected to the central control unit of the drone via the communication interface to push the obtained target route to the central control unit of the mobile platform.

[0068] It should be understood that Figure 7 The structure shown is only a schematic diagram of a portion of the electronic device. The electronic device may also include Figure 7 More or fewer components as shown, or with Figure 7 Different configurations shown. Figure 7 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0069] The embodiment of the present application provides a route planning method for a drone, which is used to plan and obtain a target route for the drone. The drone is equipped with an execution system, which is used to maintain the target altitude and perform a sowing operation along the forward direction, and the left and right operating ranges are different. The left and right sides are defined relative to the forward direction of the drone (for example, the flight direction of the drone). The execution system can be, but is not limited to, a sowing system. The route planning method for the drone can be, but is not limited to, applied to Figure 7 For detailed procedures, please refer to the electronic equipment shown in Figure 8 ,The route planning method of the UAV includes : S102 and S103 , which are described in detail as follows.

[0070] S102, planning the operation area based on the total operation range of the execution system to obtain an initial straight line route.

[0071] Among them, the interval between any two adjacent initial straight routes is equal to the total operating range, and the total operating range is the sum of the left operating range and the right operating range.

[0072] In the present application, when the execution system is a spreading system, the left operating range is the left spreading range, and the right operating range is the right spreading range.

[0073] Please refer to Fig. 9 , Fig. 9 The schematic diagram of the initial straight line route provided in the embodiment of the present application, wherein the interval between any two adjacent initial straight line routes is equal to the total operation range, that is, (L+R), where L represents the left operation range and R represents the right operation range.

[0074] Because the operating range on the left is asymmetric with that on the right, that is, L is not equal to R, operating according to the initial straight line may not fully cover the operating area. Figure 6As shown, the spreading range R on the right side of the drone is obviously smaller than the spreading range L on the left side of the drone. If the drone (such as a drone) directly drives (or flies) along the initial straight line and simultaneously carries out the spreading operation, then a large overlapping area will appear on the left side of the initial straight line, and a large blank area (an area not operated, which can also be understood as a missed spraying area or a missed sowing area) will appear on the right side, and the operation area cannot be fully covered, affecting the operation effect.

[0075] It should be noted that when the sowing range R on the right side of the drone is significantly greater than the sowing range L on the left side of the drone, there will also be large overlapping areas and blank areas, and the same problem exists, which will not be elaborated here.

[0076] In order to fully cover the operation area and ensure the operation effect, subsequent steps need to be carried out.

[0077] S103, offsetting the initial straight line route toward the target direction by a preset distance to obtain a corrected target route.

[0078] Among them, when the left operating range is larger than the right operating range, the target direction is the right direction relative to the forward direction; when the left operating range is smaller than the right operating range, the target direction is the left direction relative to the forward direction.

[0079] For example Figure 6 In the case where the right-hand spreading range R of the drone is significantly smaller than the left-hand spreading range L of the drone, the target direction is the right direction relative to the forward direction. Fig.10 , Fig.10 A schematic diagram of a target route when the target direction provided in an embodiment of the present application is the right direction relative to the forward direction. Fig.10 Before the mid-shift (dashed line) Fig. 9 The initial straight line route in the figure corresponds to the corrected target route after deviation.

[0080] In the present application, the intervals between the revised target routes are no longer a fixed total operating range (L+R), and the intervals are alternately 2L or 2R.

[0081] It should be noted that when the drone performs the sowing operation along the corrected target route, because it has been offset by the preset distance to the side with a shorter operating range, the blank area on the side with a shorter operating range can be reduced, and the repeated area on the side with a wider operating range can be reduced. When the preset distance is appropriate, full coverage can be achieved without duplication. If the drone (such as a UAV) directly drives (or flies) along the corrected target route and simultaneously carries out the sowing operation. There will be no overlapping areas and blank areas, and the operating area will be fully covered to ensure the operating effect.

[0082] In summary, the embodiment of the present application provides a route planning method for a drone, wherein the drone is deployed with an execution system, the execution system is used to perform a sowing operation along the forward direction, and the left operation amplitude is not equal to the right operation amplitude, and the route planning method for the drone includes: planning the operation area based on the total operation amplitude of the execution system to obtain an initial straight line route; wherein the interval between any two adjacent initial straight line routes is equal to the total operation amplitude, and the total operation amplitude is the sum of the left operation amplitude and the right operation amplitude; offsetting the initial straight line route to the target direction by a preset distance to obtain a corrected target route; wherein, when the left operation amplitude is greater than the right operation amplitude, the target direction is the right direction relative to the forward direction, and when the left operation amplitude is less than the right operation amplitude, the target direction is the left direction relative to the forward direction. The drone directly drives along the corrected target route and simultaneously carries out the sowing operation. There will be no overlapping areas and blank areas, and the operation area will be fully covered to ensure the operation effect.

[0083] In an optional embodiment, Figure 8 On the basis of, in S103, the initial straight line route is offset by a preset distance toward the target direction to obtain a corrected target route. The route planning method of the UAV may also include: S104, which is specifically described as follows.

[0084] S104, connecting the corrected target route by switching the route to obtain an operation path.

[0085] Among them, the operation path can be the flight path of the drone, the driving path of the unmanned vehicle, or the navigation path of the unmanned vehicle.

[0086] Please refer to Fig.11 , Fig.11 Provided for the embodiments of this application Fig.10 Schematic diagram of the corresponding operation path. In some optional embodiments, the drone can follow the Fig.11 Drive along the work path shown.

[0087] It should be noted that Fig.10 and Fig.11 Both indicate that the target direction is the right direction relative to the forward direction. When the left operating range is smaller than the right operating range, the target direction is the left direction relative to the forward direction. Fig.10 and Fig.11 The adaptive changes will not be elaborated here.

[0088] exist Figure 8On this basis, regarding how to reasonably and accurately plan the initial straight-line route to ensure that the operating range corresponding to the subsequently revised target route can completely cover the operating area, the embodiment of the present application also provides an optional implementation method, please refer to the following, S102, planning the operating area based on the total operating range of the execution system to obtain the initial straight-line route, including: S102-1 and S102-2, which are specifically explained as follows.

[0089] S102-1, planning the operation area based on the total operation range of the execution system to divide it into multiple sub-areas.

[0090] The width of the sub-area is equal to the total operation width.

[0091] Optionally, first obtain the boundary of one side of the operation area, and divide it into multiple sub-areas from the boundary, some of which completely cover the operation area. For details, please refer to Fig. 9 .

[0092] S102-2, determining the center line of the sub-area as the initial straight line route.

[0093] When the drone is an aircraft, such as a drone, the corresponding operating range (seeding range) of the drone at different flight altitudes is different, and accurately obtaining the operating range of the drone has an important impact on whether the subsequent route can be accurately planned. On this basis, regarding how to accurately obtain the left operating range and the right operating range to ensure the rationality and accuracy of the target route, so that the operating area can be fully covered during operation, the embodiment of the present application also provides an optional implementation method, please refer to Fig.12 , before S102, the route planning method of the UAV also includes: S101, which is specifically described as follows.

[0094] S101, determining a left working width and a right working width based on a target height during operation.

[0095] Optionally, the electronic device may query a mapping relationship table, where the mapping relationship table includes left-side operating amplitudes and right-side operating amplitudes at different heights.

[0096] A calculation may also be performed based on the target height to determine the left working range and the right working range.

[0097] In order to ensure that there will be no large overlapping areas or blank areas when operating based on the revised target route or operation path, it is necessary to Fig. 9The initial straight line shown is offset by a preset distance toward the target direction, and the value of the preset distance directly affects the coverage of the corrected target line. In order to minimize or avoid overlapping areas and blank areas, the preset distance can be equal to half of the absolute value of the difference between the left operating range and the right operating range.

[0098] Optionally, Wherein, D represents the preset distance.

[0099] In some optional embodiments, the UAV corresponding to the single auger and single spinning disc structure provided in the embodiment of the present application is an aircraft, and the aircraft can be but is not limited to a UAV. The corresponding execution system is a sowing system, which includes a material box 200, an auger conveying device 400 and a sowing mechanism 100, and the sowing mechanism 100 includes a spinning disc assembly 130.

[0100] The auger conveying device 400 is connected to the material box 200 and is used to convey the material in the material box 200 to the spinner assembly 130 for spreading.

[0101] Optionally, the spinning disc assembly 130 includes a spinning disc 131 and a paddle 132 . The spinning disc 131 rotates unidirectionally. The paddle 132 is disposed on a surface of one side of the spinning disc 131 and is used to paddle the material to spread the material.

[0102] The embodiment of the present application provides an operation system, which includes an execution system and a drone, wherein the execution system is deployed on the drone, and the execution system is used to perform a sowing operation along a forward direction, and the operation range on the left side is different from the operation range on the right side.

[0103] For the operating system, the embodiment of the present application also provides an operating system management method, which can be applied to the above-mentioned electronic device but is not limited to it. Fig.13 , Fig.13 The flowchart of the operating system management method provided by the embodiment of the present application is as follows: S201 and S202 are described in detail.

[0104] S201, controlling the UAV to travel along the target route obtained by the above-mentioned UAV route planning method.

[0105] S202, controlling the execution system to perform operations.

[0106] As mentioned above, when the UAV is controlled to travel according to the target route or operation path obtained by the above-mentioned UAV route planning method, and the execution system is synchronously controlled to perform operations (seeding operations), the problems caused by the asymmetry (inequality) of the operation range itself can be overcome, and comprehensive coverage of the operation area can be achieved.

[0107] See also Fig.14 , Fig.14 A route planning device for a drone is provided in an embodiment of the present application. Optionally, the route planning device for a drone is applied to the electronic device described above.

[0108] The route planning device of the UAV includes: a first processing unit 501 and a second processing unit 502 .

[0109] The first processing unit 501 is used to plan the operation area based on the total operation range of the execution system to obtain an initial straight line route;

[0110] Among them, the interval between any two adjacent initial straight routes is equal to the total operation range, and the total operation range is the sum of the left operation range and the right operation range;

[0111] The second processing unit 502 is used to offset the initial straight line route by a preset distance towards the target direction to obtain a corrected target route;

[0112] Among them, when the left operating range is larger than the right operating range, the target direction is the right direction relative to the forward direction; when the left operating range is smaller than the right operating range, the target direction is the left direction relative to the forward direction.

[0113] Optionally, the first processing unit 501 may execute the above S101 and S102, and the second processing unit 502 may execute the above S103 and S104.

[0114] It should be noted that the route planning device for a drone provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effect. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment.

[0115] See also Fig.15 , Fig.15 An operating system management device is provided in an embodiment of the present application. Optionally, the operating system management device is applied to the electronic device described above.

[0116] The operating system management device includes: a third processing unit 503 and a fourth processing unit 504 .

[0117] The third processing unit 503 is used to control the UAV to travel along the target route obtained by the above-mentioned UAV route planning method.

[0118] The fourth processing unit 504 is used to control the execution system to perform operations.

[0119] Optionally, the third processing unit 503 may execute the above S201, and the fourth processing unit 504 may execute the above S202.

[0120] It should be noted that the operating system management device provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effect. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment.

[0121] The present application also provides a storage medium that stores computer instructions and programs, which, when read and executed, execute the route planning method and / or operation system management method of the drone of the above embodiment. The storage medium may include memory, flash memory, register, or a combination thereof.

[0122] An electronic device is provided below, which may be a central control unit of a mobile platform, a control terminal of a drone, a mobile phone, a computer, a server, etc. Figure 7 As shown, the above-mentioned route planning method and / or operation system management method of the unmanned aerial vehicle can be implemented; specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 can be a CPU. The memory 11 is used to store one or more programs. When the one or more programs are executed by the processor 10, the route planning method and / or operation system management method of the unmanned aerial vehicle in the above-mentioned embodiment is executed.

[0123] The following provides a drone, which is deployed with an execution system and the above-mentioned electronic equipment, the execution system is used to perform sowing operations along the forward direction, and the operating range on the left side is different from the operating range on the right side.

[0124] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0125] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for planning a route for an unmanned aerial vehicle, characterized in that: The drone is deployed with an execution system, and the execution system is used to perform sowing operations along the forward direction, and the operation range on the left side is different from the operation range on the right side. The route planning method of the drone includes: Planning the operation area based on the total operation range of the execution system to obtain an initial straight line route; The interval between any two adjacent initial straight routes is equal to the total operation range, and the total operation range is the sum of the left operation range and the right operation range; offsetting the initial straight line route by a preset distance toward the target direction to obtain a corrected target route; Among them, when the left operating range is larger than the right operating range, the target direction is the right direction relative to the forward direction; when the left operating range is smaller than the right operating range, the target direction is the left direction relative to the forward direction.

2. The route planning method for a drone as claimed in claim 1, characterized in that: The planning of the operation area based on the total operation range of the execution system to obtain an initial straight line route includes: Planning the operation area based on the total operation range of the execution system to divide it into a plurality of sub-areas; Wherein, the width of the sub-area is equal to the total operation width; The center line of the sub-area is determined as the initial straight-line route.

3. The route planning method for an unmanned aerial vehicle according to claim 1, characterized in that: The UAV is an aircraft. Before planning the operation area based on the total operation range of the execution system to obtain an initial straight line route, the route planning method of the UAV further includes: The left working width and the right working width are determined based on a target height during operation.

4. The method for planning a route for an unmanned aerial vehicle according to claim 1, wherein: The preset distance is equal to half of the absolute value of the difference between the left working range and the right working range.

5. The method for planning a route for an unmanned aerial vehicle according to claim 1, wherein: The UAV is an aircraft, the execution system is a spreading system, the spreading system includes a material box, an auger conveying device and a spreading mechanism, and the spreading mechanism includes a spinning disc assembly; The auger conveying device is connected to the material box and is used to convey the material in the material box to the spinner assembly for spreading.

6. The method for planning a route for an unmanned aerial vehicle according to claim 5, wherein: The spinning disc assembly comprises a spinning disc and a paddle. The spinning disc rotates in one direction. The paddle is arranged on the surface of one side of the spinning disc and is used to paddle the material so as to spread the material.

7. A method for managing an operating system, characterized in that: The operation system includes a drone and an execution system deployed on the drone, the execution system is used to perform a sowing operation along the forward direction, and the operation range on the left side is different from the operation range on the right side, and the operation system management method includes: Controlling the UAV to travel on a target route obtained by the route planning method for a UAV according to any one of claims 1 to 6; The execution system is controlled to perform operations.

8. A route planning device for an unmanned aerial vehicle, characterized in that: The drone is equipped with an execution system, which is used to perform sowing operations along the forward direction, and the operation range on the left side is different from the operation range on the right side. The route planning device of the drone includes: A first processing unit, configured to plan an operation area based on a total operation range of the execution system to obtain an initial straight line route; The interval between any two adjacent initial straight routes is equal to the total operation range, and the total operation range is the sum of the left operation range and the right operation range; A second processing unit is used to offset the initial straight line route by a preset distance toward the target direction to obtain a corrected target route; Among them, when the left operating range is larger than the right operating range, the target direction is the right direction relative to the forward direction; when the left operating range is smaller than the right operating range, the target direction is the left direction relative to the forward direction.

9. An operating system management device, characterized in that: The operation system includes a drone and an execution system deployed on the drone, the execution system is used to perform a sowing operation along the forward direction, and the operation range on the left side is different from the operation range on the right side, and the operation system management device includes: A third processing unit, configured to control the UAV to travel on a target route obtained by the route planning method for a UAV according to any one of claims 1 to 6; The fourth processing unit is used to control the execution system to perform operations.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

11. An electronic device, characterized in that: include: A processor and a memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

12. A drone, characterized in that: The drone is deployed with an execution system and the electronic device described in claim 11, wherein the execution system is used to perform sowing operations along the forward direction, and the operating range on the left side is different from the operating range on the right side.

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