Route planning method and device of unmanned aerial vehicle, storage medium and electronic equipment

Abstract

The application provides a route planning method and device of a UAV, a storage medium and an electronic device. The UAV is provided with an execution system. The execution system is used for performing a spreading operation in a forward direction. A left operation range is different from a right operation range. The route planning method of the UAV comprises the following steps: planning a work area based on a total operation range of the execution system to obtain an initial straight route; offsetting the initial straight route by a preset distance to obtain a corrected target route; when the left operation range is greater than the right operation range, the target direction is a right direction relative to the forward direction, and vice versa. The UAV directly travels along the corrected target route and synchronously expands and spreads the operation. No overlapping area and blank area will appear, the work area is fully covered, and the operation effect is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of path planning, in particular to a flight path planning method and device of a UAV, a storage medium and an electronic device. BACKGROUND

[0002] At present, the sowing system applied to the UAV can sow solid fertilizers, powder and other materials. The plant protection UAV as a type of UAV can include a UAV body and an execution system, the execution system is installed on the UAV body, and the execution system can be a sowing system. For the plant protection UAV, how to plan the flight path to ensure that it can fully cover the operation area has become a difficult problem for those skilled in the art. SUMMARY

[0003] The present application aims to provide a flight path planning method and device of a UAV, a storage medium and an electronic device to at least partially improve the above-mentioned problems.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted by the embodiments of the present application is as follows:

[0005] In a first aspect, the embodiments of the present application provide a flight path planning method of a UAV, the UAV is provided with an execution system, the execution system is used for sowing operation along a forward direction, and the left operation range and the right operation range are not equal, the flight path planning method of the UAV comprises: planning an operation area based on a total operation range of the execution system to obtain an initial straight flight path; wherein the interval between any two adjacent initial straight flight paths 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 flight path by a preset distance in a target direction to obtain a corrected target flight path; wherein when the left operation range is greater than the right operation range, the target direction is a right direction relative to the forward direction, and when the left operation range is less than the right operation range, the target direction is a left direction relative to the forward direction.

[0006] In the present application, the UAV directly travels according to the corrected target flight path and simultaneously expands the sowing operation. There will be no overlapping area and blank area, the operation area is fully covered, and the operation effect is guaranteed.

[0007] Optionally, the operation area is planned based on the total operation range of the execution system to obtain an initial straight flight path, comprising: 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 range; and determining the center line of the sub-area as the initial straight flight path.

[0008] The application plans the initial straight line reasonably and accurately, so that the operation range corresponding to the target flight path after correction can completely cover the operation area.

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

[0010] The application accurately obtains the left operation range and the right operation range, so as to ensure the rationality and accuracy of the target flight path, so that the operation area can be completely covered during operation.

[0011] Optionally, the preset distance is equal to half of the absolute value of the difference between the left operation range and the right operation range. In order to reduce or avoid the occurrence of overlapping areas and blank areas as much as possible, the preset distance can be equal to half of the absolute value of the difference between the left operation range and the right operation range.

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

[0013] Optionally, the flail assembly includes a flail and a paddle, the flail rotates in one direction, and the paddle is arranged on the surface of one side of the flail and is used to move the material to sowing the material.

[0014] In a second aspect, the embodiments of the application provide a work system management method, the work system includes a UAV and an execution system deployed on the UAV, the execution system is used for sowing operation in the forward direction, and the left operation range and the right operation range are not equal, the work system management method includes: controlling the UAV to travel according to the target flight path obtained by the UAV flight path planning method; and controlling the execution system to operate.

[0015] In a third aspect, an embodiment of the present application provides a route planning device for a UAV, the UAV being provided with an execution system, the execution system being configured to perform a spreading operation in a forward direction, and a left operation range being different from a right operation range, the route planning device for the UAV comprising: a first processing unit configured to plan an operation region based on a total operation range of the execution system to obtain an initial straight route, wherein a spacing between any two adjacent initial straight routes is equal to the total operation range, and the total operation range is a sum of the left operation range and the right operation range; and a second processing unit configured to offset the initial straight route to a target direction by a preset distance to obtain a corrected target route, wherein when the left operation range is greater than the right operation range, the target direction is a right direction relative to the forward direction, and when the left operation range is less than the right operation range, the target direction is a left direction relative to the forward direction.

[0016] In a fourth aspect, an embodiment of the present application provides a management device for an operation system, the operation system comprising a UAV and an execution system provided on the UAV, the execution system being configured to perform a spreading operation in a forward direction, and a left operation range being different from a right operation range, the management device for the operation system comprising: a third processing unit configured to control the UAV to travel according to a target route obtained by the route planning method for the UAV; and a fourth processing unit configured to control the execution system to perform an operation.

[0017] In a fifth aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method described above.

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

[0019] In a seventh aspect, an embodiment of the present application provides a UAV, the UAV being provided with an execution system and the electronic device described above, the execution system being configured to perform a spreading operation in a forward direction, and a left operation range being different from a right operation range.

[0020] In order to make the above objectives, features and advantages of the present application more apparent, the following describes in detail a preferred embodiment with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 Structure diagram of a spreading system provided by an embodiment of the present application;

[0023] Figure 2 Structure diagram of a spreading system provided by an embodiment of the present application;

[0024] Figure 3 Structure diagram of a spreading mechanism provided by an embodiment of the present application;

[0025] Figure 4 Structure diagram of a spreading system provided by an embodiment of the present application;

[0026] Figure 5 Structure diagram of a spreading system provided by an embodiment of the present application;

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

[0028] Figure 7 Structure diagram of an electronic device provided by an embodiment of the present application;

[0029] Figure 8 Flowchart of a flight path planning method of a UAV provided by an embodiment of the present application;

[0030] Figure 9 Schematic diagram of an initial straight flight path provided by an embodiment of the present application;

[0031] Figure 10 Schematic diagram of a target flight path when the target direction is a right direction relative to the forward direction provided by an embodiment of the present application;

[0032] Figure 11 Schematic diagram of a target flight path provided by an embodiment of the present application; Figure 10 Corresponding working path schematic diagram;

[0033] Figure 12 Flowchart of a flight path planning method of a UAV provided by an embodiment of the present application;

[0034] Figure 13 Flowchart of a working system management method provided by an embodiment of the present application;

[0035] Figure 14A unit schematic diagram of the route planning device of the unmanned aerial vehicle provided in the embodiment of the present application;

[0036] Figure 15 A unit schematic diagram of the operation system management device provided in the embodiment of the present application.

[0037] In the figure: 10-processor; 11-memory; 12-bus; 13-communication interface; 100-spraying mechanism; 110-driving piece; 120-connecting shaft; 130-tumbler assembly; 131-tumbler; 132-paddle; 133-tumbler cover; 200-material box; 400-auger conveyor; 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 scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some 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 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 drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0040] It should be noted that: similar numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0041] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0042] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used, and are merely 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 particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0043] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can be connected inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0044] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0045] The embodiments of the present application provide a work system. The work system comprises an execution system and a UAV, and the execution system is deployed on the UAV. It can be applied to agricultural and industrial scenes, and in the field of plant protection, various work equipment can be installed on the UAV to realize work such as spraying pesticides, seeds, and powders.

[0046] The UAV can be applied to agricultural planting and plant protection work, and can be used for sowing work on crops, and for sowing solid materials such as seeds, particles, and powders to target areas.

[0047] The execution system can be but is not limited to a sowing system. The sowing system can be used for sowing solid materials such as seeds, particles, and powders.

[0048] The embodiment of the present application takes the execution system deployed on the unmanned aerial vehicle as an example to illustrate the spreading system. Please refer to Figure 1 and Figure 2 , Figure 1 Figure 1 is a schematic structural diagram of the spreading system provided by the embodiment of the present application. Figure 2 Figure 2 is another schematic structural diagram of the spreading system provided by the embodiment of the present application. As shown in Figure 1 and Figure 2 , the spreading system comprises a spreading mechanism 100 and a material box 200, wherein the material box 200 is installed on the body of the unmanned aerial vehicle and is used to contain materials such as seeds, granules, powders, etc. The spreading mechanism 100 is connected with the material box 200 and can rotate to spread the materials falling from the material box 200 to the spreading mechanism 100. When the spreading system is used for spreading, the materials in the material box 200 fall to the spreading mechanism 100, and the spreading mechanism 100 rotates to spread the materials.

[0049] Please refer to Figure 3 , Figure 3 Figure 3 is a schematic structural diagram of the spreading mechanism provided by the embodiment of the present application. As shown in Figures 1 to 3 , in an optional embodiment, the spreading mechanism 100 can comprise a driving member 110, a connecting shaft 120 and a flail assembly 130. The flail assembly 130 can keep rotating in one direction during operation.

[0050] The driving member 110 is in driving connection with the connecting shaft 120 and is used to drive the connecting shaft 120 to rotate, and the connecting shaft 120 is in driving connection with the flail assembly 130. The driving member 110 can be an electric motor. During the spreading operation, the driving member 110 drives the connecting shaft 120 to rotate, the connecting shaft 120 drives the flail assembly 130 to rotate, and the flail assembly 130 spreads the materials falling from the material box 200. Optionally, the flail assembly 130 can comprise a flail 131 rotating in one direction. The flail 131 is in driving connection with the connecting shaft 120 and rotates around the connecting shaft 120 during operation. The flail 131 can adopt a disc structure. The flail 131 has a first surface and a second surface arranged oppositely. The first surface is the side surface in contact with the materials during the spreading of the materials. In addition, the flail 131 is not limited to a single flail, but can also be a double flail or more flails.

[0051] Optionally, the flail 131 is horizontally arranged below the material box 200, or the flail 131 is vertically arranged at one side of the material box 200. In this embodiment, the flail 131 is horizontally arranged below the material box 200, and the flail 131 can receive the materials falling from the material box 200 to spread the materials.

[0052] Optionally, to agitate and spread the material during dispersal, the sling assembly 130 may further include a paddle 132. The paddle 132 is disposed on the first surface and is used to agitate the material for dispersal. Optionally, the paddle 132 is eccentrically disposed on the first surface. The paddle 132 is generally sheet-like, and its shape is not specifically limited; for example, it can be rectangular. The paddle 132 may be perpendicular to the first surface. Furthermore, there may be multiple paddles 132, arranged symmetrically about the center of the sling assembly 131.

[0053] Optionally, in this embodiment, the swivel plate 131 can be in a vertical state.

[0054] In addition, in some alternative embodiments of this application, based on any of the above embodiments, the difference is that the spreading mechanism 100 further includes a swivel disc cover 133, and the spreading system further includes an auger conveyor 400. Other aspects not mentioned can be referred to the embodiments described above.

[0055] The auger conveyor 400 is connected to the auger cover 133, the drive unit 110 is installed on the outside of the auger cover 133, the auger assembly 130 is disposed inside the auger cover 133, and the end of the connecting shaft 120 away from the drive unit 110 extends into the auger cover 133 and is connected to the auger assembly 130 for transmission. The auger conveyor 400 is connected to the material box 200 and is used to transport the material in the material box 200 to the auger assembly 130 for spreading.

[0056] Optionally, the auger conveyor 400 may include an auger housing and an auger. The auger housing is located at the bottom of the hopper 200 and is connected to the hopper 200. The auger is rotatably disposed within the auger housing, which is connected to the slinger cover 133. When spreading material, material enters the auger housing from the hopper 200, and the rotating auger conveys the material to the slinger assembly 130, where it is spread by being struck by the paddles 132 on the slinger 131.

[0057] like Figure 1 and Figure 2 The seeding system shown employs a dual-auger, dual-disc structure, which is relatively expensive. To reduce costs, this application provides an optional implementation where the seeding mechanism 100 in the seeding system uses a single-auger, single-disc structure. Please refer to... Figure 4 and Figure 5 , Figure 4 This is the third schematic diagram of the dissemination system provided in the embodiments of this application. Figure 5 The fourth schematic diagram of the dispersing system provided in the embodiments of this application. Figure 4 and Figure 5 The structure shown is Figure 1 , Figure 2The difference between the structures shown is that the number of flail assemblies 130 in the spreading mechanism 100 is 1, and the number of auger conveyers 400 is 1, that is, a single-auger single-flail structure, and the rest of the structures are the same, which will not be described here.

[0058] However Figure 4 and Figure 5 The spreading system shown is asymmetrical in terms of the spreading width relative to the unmanned aerial vehicle because the flail 131 rotates in one direction, and the auger conveyer 400 cannot convey all the material to the center of the flail 131. Even if the auger conveyer 400 conveys all the material to the center of the flail 131, the spreading width is still asymmetrical. Specifically, please refer to Figure 6 , Figure 6 A spreading width boundary diagram provided by the embodiment of the application.

[0059] As Figure 6 shown, the flight direction of the unmanned aerial vehicle is towards Figure 6 The paper, the flail 131 rotates in the clockwise direction, and the material is flung out by the flail 131. The right side spreading width R of the unmanned aerial vehicle is obviously smaller than the left side spreading width L of the unmanned aerial vehicle, and there is a problem of asymmetrical spreading width. It should be noted that Figure 6 The spreading width boundary shown is only one of the possibilities. The flail 131 can also rotate in the counterclockwise direction, and there is a problem that the right side spreading width R of the unmanned aerial vehicle is obviously larger than the left side spreading width L of the unmanned aerial vehicle.

[0060] It should be noted that Figure 6 The spreading width (also known as the spreading width) can be used as a kind of operation width. Figure 6 The asymmetrical problem of the spreading width is the asymmetrical problem of the operation width.

[0061] In order to overcome the influence of the asymmetrical problem of the operation width on the operation, the embodiment of the application provides a flight path planning method of an unmanned aerial vehicle to plan a target flight path of the unmanned aerial vehicle during operation. When the unmanned aerial vehicle moves according to the target flight path to perform the operation, the influence of the asymmetrical operation width can be overcome, and the operation area can be fully covered. The flight path planning method of the unmanned aerial vehicle can be applied to the electronic device described below, but is not limited to the electronic device.

[0062] The embodiment of the application provides an electronic device, which can be a central control unit of an unmanned aerial vehicle, a control end of an unmanned aerial vehicle, a mobile phone, a computer, a server and the like. Please refer to Figure 7 , a structural diagram of the 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 through the bus 12, and the processor 10 is used to execute the executable modules stored in the memory 11, such as computer programs.

[0063] The processor 10 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the route planning method of the unmanned aerial vehicle can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor 10. The processor 10 described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; 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 can include a high-speed random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory.

[0065] The bus 12 can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. Figure 7 Only one bidirectional arrow is used to represent the bus 12, but 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 unmanned aerial vehicle. The route planning device of the unmanned aerial vehicle includes at least one software function module which can be stored in the memory 11 in the form of software or firmware or solidified 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 unmanned aerial vehicle.

[0067] Optionally, the electronic device provided by the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected with the processor 10 through the bus. When the electronic device is not the central control unit of the mobile platform, the electronic device can be in communication connection with the central control unit of the unmanned aerial vehicle through the communication interface, so as 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 the structure of part of the electronic device, and the electronic device can further include more or fewer components than Figure 7 shown or have a different configuration from Figure 7 shown. Figure 7 The components shown in the above can be implemented in hardware, software or a combination thereof.

[0069] The unmanned aerial vehicle route planning method provided in the embodiment of the application is used for planning to obtain a target route of an unmanned aerial vehicle. The unmanned aerial vehicle is provided with an execution system. The execution system is used for keeping at a target height and performing a spreading operation in a forward direction, and a left operation range and a right operation range are not equal. Here, the left and right are defined with respect to the forward direction (for example, the flight direction) of the unmanned aerial vehicle. The execution system can be but is not limited to a spreading system. The unmanned aerial vehicle route planning method can be but is not limited to applied to Figure 7 the electronic device shown, and the specific process is described in Figure 8 The unmanned aerial vehicle route planning method comprises S102 and S103, which are specifically described as follows.

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

[0071] The interval between any two adjacent initial straight-line 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.

[0072] In the scheme of the application, when the execution system is a spreading system, the left operation range is a left spreading range, and the right operation range is a right spreading range.

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

[0074] Because the left operation range and the right operation range are asymmetric, that is, L is not equal to R, the operation according to the initial straight-line route can not cover the work area comprehensively. For example Figure 6As shown, the right side spreading width R of the UAV is obviously less than the left side spreading width L of the UAV. If the UAV (for example, the unmanned plane) directly travels (or flies) along the initial straight line and simultaneously expands the spreading operation, a large area of overlapping region will appear on the left side of the initial straight line, and a large area of blank region (an area where the operation is not performed, which can also be understood as a missed spraying region or a missed spreading region) will appear on the right side, which cannot fully cover the operation region and affects the operation effect.

[0075] It should be noted that when the right side spreading width R of the UAV is obviously greater than the left side spreading width L of the UAV, a large area of overlapping region and a blank region will also exist, and the same problem exists, which will not be described here.

[0076] In order to fully cover the operation region and guarantee the operation effect, subsequent steps need to be performed.

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

[0078] When the left side operation width is greater than the right side operation width, the target direction is a right side direction relative to the forward direction, and when the left side operation width is less than the right side operation width, the target direction is a left side direction relative to the forward direction.

[0079] For example Figure 6 When the right side spreading width R of the UAV is obviously less than the left side spreading width L of the UAV, the target direction is a right side direction relative to the forward direction. Please refer to Figure 10 , Figure 10 The target direction provided by the embodiment of the present application is a right side direction relative to the forward direction. Figure 10 Before the offset (dotted line) corresponds to Figure 9 The initial straight line, after the offset corresponds to the corrected target line.

[0080] In the present application, the interval between the corrected target lines is not the fixed total operation width (L+R), and the interval alternates between 2L or 2R.

[0081] It should be noted that when the UAV performs the spreading operation along the corrected target line, because the preset distance has been offset to the side with the short operation width, the blank region on the side with the short operation width can be reduced, and the repeated area on the side with the wide operation width can be reduced. In the case of a proper preset distance, complete coverage can be achieved without repetition. If the UAV (for example, the unmanned plane) directly travels (or flies) along the corrected target line and simultaneously expands the spreading operation, no overlapping region and blank region will appear, the operation region is fully covered, and the operation effect is guaranteed.

[0082] In summary, the embodiment of the present application provides a route planning method of a UAV. The UAV is provided with an execution system. The execution system is used for performing a spreading operation in a forward direction. A left operation range is different from a right operation range. The route planning method of the UAV comprises the following steps. The operation region is planned based on a total operation range of the execution system, so as to obtain an initial straight route. The interval between any two adjacent initial straight routes is equal to the total operation range. The total operation range is the sum of the left operation range and the right operation range. The initial straight route is offset by a preset distance in a target direction, so as to obtain a corrected target route. When the left operation range is greater than the right operation range, the target direction is a right direction relative to the forward direction. When the left operation range is less than the right operation range, the target direction is a left direction relative to the forward direction. The UAV directly travels along the corrected target route and simultaneously performs the spreading operation. The overlapping region and the blank region will not appear. The operation region is fully covered, and the operation effect is ensured.

[0083] In an optional embodiment, on the basis of the above, Figure 8 at S103, the initial straight route is offset by a preset distance in a target direction, so as to obtain a corrected target route. The route planning method of the UAV can further comprise the following step S104.

[0084] S104, the corrected target route is connected by switching routes, so as to obtain an operation path.

[0085] The operation path can be a flight path of the UAV, a driving path of the UAV or a sailing path of the UAV.

[0086] Please refer to Figure 11 , Figure 11 the operation path provided by the embodiment of the present application. Figure 10 In some optional embodiments, the UAV can travel along the operation path shown in Figure 11 when performing the operation.

[0087] It should be noted that Figure 10 and Figure 11 both represent that the target direction is a right direction relative to the forward direction. When the left operation range is less than the right operation range, the target direction is a left direction relative to the forward direction, Figure 10 and Figure 11 adaptively change, which will not be described here.

[0088] In Figure 8On the basis of the above, the embodiments of the present application also provide an optional implementation for how to reasonably and accurately plan the initial straight flight path to ensure that the operation range corresponding to the subsequent corrected target flight path can completely cover the operation area. Please refer to the following S102. S102, planning the operation area based on the total operation range of the execution system to obtain the initial straight flight path, comprising S102-1 and S102-2, which are specifically described 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] In which, the width of the sub-area is equal to the total operation range.

[0091] Optionally, first, the boundary of one side of the operation area is obtained, and multiple sub-areas are divided from the boundary, and some of the sub-areas completely cover the operation area. Specifically, please refer to Figure 9 .

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

[0093] When the unmanned aerial vehicle is an aircraft, for example, a drone, the corresponding operation range (sowing range) is different at different flight heights, and accurately obtaining the operation range of the unmanned aerial vehicle has an important influence on whether the subsequent flight path can be accurately planned. On this basis, regarding how to accurately obtain the left operation range and the right operation range to ensure the rationality and accuracy of the target flight path, so that it can completely cover the operation area during operation, the embodiments of the present application also provide an optional implementation, please refer to Figure 12 Before S102, the flight path planning method of the unmanned aerial vehicle further comprises S101, which is specifically described as follows.

[0094] S101, determining the left operation range and the right operation range based on the target height during operation.

[0095] Optionally, the electronic device can query a mapping relationship table, which includes the left operation range and the right operation range at different heights.

[0096] The left operation range and the right operation range can also be calculated based on the target height.

[0097] In order to ensure that there is no large area of overlap and blank area when operating based on the corrected target flight path or operation path, it is necessary to plan the initial straight flight path in Figure 9The initial straight line shown is offset from the target direction by a preset distance, and the value of the preset distance directly affects the coverage of the corrected target route. In order to reduce or avoid the occurrence of overlapping areas and blank areas as much as possible, the preset distance can be equal to one-half of the absolute value of the difference between the left operation range and the right operation range.

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

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

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

[0101] Optionally, the flail disc assembly 130 includes a flail disc 131 and a paddle 132. The flail disc 131 rotates in one direction, and the paddle 132 is arranged on the surface of one side of the flail disc 131 and is used to push the material to spread the material.

[0102] The embodiments of the present application provide a working system. The working system includes an execution system and an unmanned aerial vehicle. The execution system is arranged on the unmanned aerial vehicle and is used to spread in a forward direction. The left operation range is not equal to the right operation range.

[0103] For the working system, the embodiments of the present application further provide a working system management method, which can be but is not limited to applied to the electronic device described above. Please refer to Figure 13 , Figure 13 The flowchart of the working system management method provided by the embodiments of the present application is shown. Specifically, the working system management method includes S201 and S202, which are specifically described as follows.

[0104] S201, controlling the unmanned aerial vehicle to travel according to the target route obtained by the route planning method of the unmanned aerial vehicle.

[0105] S202, controlling the execution system to work.

[0106] As described above, when the unmanned aerial vehicle travels according to the target route or the working path obtained by the route planning method of the unmanned aerial vehicle, and the execution system is controlled to work (spreading work) synchronously, the problem caused by the asymmetry (inequality) of the operation range can be overcome, and the working area can be fully covered.

[0107] Please refer toFigure 14 , Figure 14 The present application provides a flight path planning device for a drone. Optionally, the flight path planning device for the drone is applied to the electronic device described above.

[0108] The flight path planning device for 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 work area based on the total work range of the execution system to obtain an initial straight route.

[0110] Among them, the interval between any two adjacent initial straight lines is equal to the total operating range, which is the sum of the operating range on the left and the operating range on the right.

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

[0112] Specifically, when the working range on the left is greater than that on the right, the target direction is to the right relative to the forward direction; when the working range on the left is less than that on the right, the target direction is to the left relative to the forward direction.

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

[0114] It should be noted that the UAV flight path planning device provided in this embodiment can execute the method flow shown in the above-described method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above-described embodiments.

[0115] Please see Figure 15 , Figure 15 An operating system management device is provided as an embodiment of this 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 can perform S201 described above, and the fourth processing unit 504 can perform S202 described above.

[0120] It should be noted that the job system management apparatus provided in the present embodiment can perform the method processes shown in the method process embodiments described above to achieve the corresponding technical effects. For brevity, the present embodiment is not mentioned in some parts, and the corresponding content can be referred to the above-mentioned embodiments.

[0121] The present embodiment further provides a storage medium storing computer instructions and programs, which, when read and run, perform the route planning method of the unmanned aerial vehicle and / or the job system management method of the above-mentioned embodiments. The storage medium can include memory, flash memory, register, or a combination thereof.

[0122] The following provides an electronic device, which can be a mobile platform central control unit, a control end of an unmanned aerial vehicle, a mobile phone, a computer, a server, and the like. As shown in the figure, the electronic device can implement the route planning method of the unmanned aerial vehicle and / or the job system management method described above. 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, which, when executed by the processor 10, perform the route planning method of the unmanned aerial vehicle and / or the job system management method of the above-mentioned embodiments. Figure 7

[0123] The following provides an unmanned aerial vehicle, which is provided with an execution system and the electronic device described above. The execution system is used to perform a spreading operation in a forward direction, and the left operation range is different from the right operation range.

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

[0125] It is obvious for those skilled in the art that the present application is not limited to the details of the above-mentioned exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims.​

Claims

1. A method for route planning of a UAV, the method comprising: The unmanned aerial vehicle is provided with an execution system, the execution system is used for performing a sowing operation along a forward direction, and a left operation range is different from a right operation range, a sowing mechanism in the execution system adopts a single flail disc rotating in one direction, and a flight path planning method of the unmanned aerial vehicle comprises the following steps: An initial straight flight path is obtained by planning a work area based on a total operation range of the execution system; Wherein, a spacing between any two adjacent initial straight flight paths is equal to the total operation range, and the total operation range is a sum of the left operation range and the right operation range; A target flight path is obtained by offsetting the initial straight flight path by a preset distance in a target direction; Wherein, when the left operation range is greater than the right operation range, the target direction is a right direction relative to the forward direction, and when the left operation range is less than the right operation range, the target direction is a left direction relative to the forward direction. 2.The method of claim 1, wherein, The initial straight flight path is obtained by planning the work area based on the total operation range of the execution system, comprising the following steps: The work area is divided into a plurality of sub-areas based on the total operation range of the execution system; Wherein, a width of the sub-area is equal to the total operation range; A center line of the sub-area is determined as the initial straight flight path. 3.The method of claim 1, wherein, The unmanned aerial vehicle is an aircraft, and before the initial straight flight path is obtained by planning the work area based on the total operation range of the execution system, the flight path planning method of the unmanned aerial vehicle further comprises the following steps: The left operation range and the right operation range are determined based on a target height during work. 4.The method of claim 1, wherein, The preset distance is equal to one half of an absolute value of a difference between the left operation range and the right operation range. 5.The method of claim 1, wherein, The unmanned aerial vehicle is an aircraft, the execution system is a sowing system, the sowing system comprises a material box, an auger conveying device and a sowing mechanism, and the sowing mechanism comprises a flail disc assembly; The auger conveying device is connected with the material box and is used for conveying materials in the material box to the flail disc assembly for sowing. 6.The method of claim 5, wherein, The flail disc assembly comprises a flail disc and a push piece, the flail disc rotates in one direction, and the push piece is arranged on a surface of one side of the flail disc and is used for pushing the materials to sowing.

7. A job system management method characterized by comprising: The work system comprises an unmanned aerial vehicle and an execution system arranged on the unmanned aerial vehicle, the execution system is used for performing a sowing operation along a forward direction, and a left operation range is different from a right operation range, and a work system management method comprises the following steps: The unmanned aerial vehicle is controlled to travel along a target flight path obtained by the flight path planning method of the unmanned aerial vehicle according to any one of claims 1-6; The execution system is controlled to perform work. 8.A route planning device of a UAV, characterized by, The unmanned aerial vehicle is provided with an execution system, the execution system is used for performing a sowing operation along a forward direction, and a left operation range is different from a right operation range, a sowing mechanism in the execution system adopts a single flail disc rotating in one direction, and a flight path planning device of the unmanned aerial vehicle comprises: A first processing unit is used for obtaining an initial straight flight path by planning a work area based on a total operation range of the execution system; The interval between any two adjacent initial straight-line routes is equal to the total working range, which is the sum of the left working range and the right working range. The second processing unit is configured to offset the initial straight-line route by a preset distance in a target direction to obtain a corrected target route. When the left working range is greater than the right working range, the target direction is a right direction relative to the forward direction; and when the left working range is less than the right working range, the target direction is a left direction relative to the forward direction.

9. A job system management apparatus characterized by comprising: The working system includes a UAV and an execution system deployed on the UAV, the execution system is configured to perform a spreading operation in a forward direction, and a left working range is different from a right working range. The third processing unit is configured to control the UAV to travel according to the target route obtained by the route planning method of the UAV according to any one of claims 1-6. The fourth processing unit is configured to control the execution system to perform the operation.

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

11. An electronic device, comprising: The computer program product includes: a processor and a memory configured 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 1-7 is implemented.

12. A drone, characterized in that, The UAV is deployed with the execution system and the electronic device according to claim 11, the execution system is configured to perform a spreading operation in a forward direction, and a left working range is different from a right working range.

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