A method, device, storage medium and electronic device for operation path planning

Abstract

The present application proposes an operation path planning method, device, storage medium and electronic device. As the moving path of the drone during operation, the drone is deployed with an execution system, and the execution system is used to perform sowing operations along the forward direction. There are sparse areas at the edge of the coverage area of ​​the first side of the execution system, including: determining a reference route group based on a first width and a second width; copying and translating the reference route group based on the first width, the second width and the third width to obtain an iterative route group; connecting the reference route group and all iterative route groups in series by switching routes to obtain an operation path. All sparse areas in the operation path are completely or partially overlapped. When the drone moves along the operation path and performs sowing operations, the density of the sown materials in the sparse area is increased to make the sowing operation more uniform.

Description

Technical Field

[0001] The present application relates to the field of path planning technology, and in particular to an operation path planning method, device, storage medium and electronic device. Background Art

[0002] At present, the spreading system used on 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, one of the main considerations is the uniformity of material spreading during the operation. Therefore, how to avoid or reduce the problem of uneven material spreading within the sowing width 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 work path planning method, device, storage medium and electronic device 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 work path planning method, wherein the work path is used as a moving path of a drone when performing operations, the drone is deployed with an execution system, the execution system is used to perform sowing operations along the forward direction, and there is a sparse area at the edge of the coverage area of ​​the first side of the execution system. The work path planning method includes: determining a reference route group based on a first width and a second width, wherein the first width is the width of the coverage area of ​​the first side of the execution system, and the second width is the width of the sparse area, the reference route group includes two reference routes, and the sparse areas corresponding to the two reference routes are at least partially overlapped; based on the first width, the second width and the third width, the reference route group is copied and translated to obtain an iterative route group; wherein the third width is the width of the coverage area of ​​the second side of the execution system; the reference route group and all the iterative route groups are serially connected by switching routes to obtain the work path. In the present application scheme, since the sparse areas corresponding to the two routes in the baseline route group completely or partially overlap, and the sparse areas corresponding to the two routes in the iterative route group completely or partially overlap, it can be determined that all sparse areas in the operation path are completely or partially overlapped. When the UAV moves along the operation path and performs sowing operations, the density of the sown materials in the sparse area is increased, making the sowing operation more uniform.

[0006] Optionally, the determining of the reference route group based on the first width and the second width includes: planning a first straight route and a second straight route, wherein the interval between the first straight route and the second straight route is twice the first width; and offsetting the second straight route by the second width in a direction close to the first straight route to obtain the reference route group. The reference route group is accurately obtained to ensure that the final operation path is obtained, so that the material can be evenly spread to the target operation area when there are sparse areas and the execution system spreads unevenly.

[0007] Optionally, the reference route group is copied and translated based on the first width, the second width and the third width to obtain an iterative route group, including: determining a target translation distance based on the first width, the second width and the third width; copying and translating the reference route group based on the target translation distance to obtain an iterative route group, so as to ensure more uniform material coverage during operation.

[0008] Optionally, the target translation distance=2(first width+third width)-second width.

[0009] Optionally, the distance between the first reference route in the reference route group and one side of the target operating area is equal to the third width; and / or; the coverage areas corresponding to the reference route group and all iterative route groups completely cover the target operating area.

[0010] Optionally, the execution system is a spreading system, which includes a material box, an auger conveying device and a spreading mechanism, and the spreading mechanism includes a unidirectional rotating disc assembly; the auger conveying device is connected to the material box, and is used to transport the material in the material box to the disc assembly for spreading.

[0011] 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.

[0012] In a second aspect, an embodiment of the present application provides an operation control method, which includes: controlling a drone to move according to an operation path obtained by the above-mentioned operation path planning method; and controlling an execution system to perform operations.

[0013] In a third aspect, an embodiment of the present application provides an operation path planning device, wherein the operation path is used as a moving path of a drone when performing operations, the drone is deployed with an execution system, the execution system is used to perform sowing operations along the forward direction, and there is a sparse area at the edge of the coverage area of ​​the first side of the execution system. The operation path planning device includes: a first processing unit, used to determine a reference route group based on a first width and a second width, wherein the first width is the width of the coverage area of ​​the first side of the execution system, and the second width is the width of the sparse area, and the reference route group includes two reference routes, and the sparse areas corresponding to the two reference routes at least partially overlap; the first processing unit is also used to copy and translate the reference route group based on the first width, the second width and the third width to obtain an iterative route group; wherein the third width is the width of the coverage area of ​​the second side of the execution system; a second processing unit, used to serially connect the reference route group and all the iterative route groups by switching routes to obtain the operation path.

[0014] In a fourth aspect, an embodiment of the present application provides an operation control device, which includes: a third processing unit, used to control the movement of the drone according to the operation path obtained by the above-mentioned operation path planning method; and a fourth processing unit, used to control the execution system to perform operations.

[0015] 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.

[0016] 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.

[0017] 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, wherein the execution system is used to perform spreading operations along the forward direction, and there is a sparse area at the edge of the coverage area of ​​the first side of the execution system.

[0018] 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

[0019] 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.

[0020] Figure 1 One of the structural schematic diagrams of the spreading system provided in the embodiment of the present application;

[0021] Figure 2 The second structural diagram of the spreading system provided in the embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of the spreading mechanism provided in the embodiment of the present application;

[0023] Figure 4 The third structural diagram of the spreading system provided in the embodiment of the present application;

[0024] Figure 5 The fourth structural diagram of the spreading system provided in the embodiment of the present application;

[0025] Figure 6 A schematic diagram of a sowing width of a sowing system provided in an embodiment of the present application;

[0026] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0027] Figure 8 A schematic diagram of a process flow of a method for planning a work path provided in an embodiment of the present application;

[0028] Fig. 9 A schematic diagram of a reference route group provided in an embodiment of the present application;

[0029] Fig.10 Provided for the embodiments of this application Fig. 9 Schematic diagram of the corresponding iterative route group;

[0030] Fig.11 Provided for the embodiments of this application Fig.10 Schematic diagram of the corresponding operation path;

[0031] Fig.12 Provided for the embodiments of this application Figure 6 Schematic diagram of the corresponding first straight line route and second straight line route;

[0032] Fig.13 A flowchart of a job control method provided in an embodiment of the present application;

[0033] Fig.14 A schematic diagram of a unit of an operation path planning device provided in an embodiment of the present application;

[0034] Fig.15 A unit schematic diagram of a job control device provided in an embodiment of the present application.

[0035] 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

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] The embodiment of the present application provides a drone, which is equipped with an execution system and can be applied in agriculture, industry and other scenes. In the field of plant protection, various operation equipment can be installed on the drone to realize operations such as spreading pesticides, seeds, and powders.

[0044] Among them, the drone can be used in agricultural plant protection operations and can spread solid materials such as seeds, granules, powders, etc. to the target area.

[0045] 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.

[0046] The present application embodiment takes the execution system deployed by 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Optionally, in the embodiment of the present application, the spinning tray 131 may be in a vertical state.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] but Figure 4 and Figure 5 When the sowing system shown is in operation, the auger conveying device 400 rotates unidirectionally to feed the material, the material discharge from the feed port is not uniform, and the center of the feed port and the center of the spinner 131 are not necessarily aligned, and there may be an offset, and the layout of the paddles 132 on the spinner 131 is not necessarily symmetrical, etc., which may cause the sowing system with a single auger and single spinner structure to have uneven sowing width. For details, please refer to Figure 6 , Figure 6 A schematic diagram of a sowing width of a sowing system provided in an embodiment of the present application.

[0057] 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 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. The area farther from the drone has less and more sparsely spread materials, and this part of the area belongs to the sparse area. It should be understood that the edge of the side with a wider spreading range is farther from the drone, so the sparse area is located on the side with a wider spreading range, that is, Figure 6 The left side shown in the figure. The area closer to the drone (such as the area below the drone) has more and denser materials sown, and this part of the area belongs to the dense area. Because when the drone is working, the amount (or density) of materials sown in the sparse area is different from the amount (or density) of materials sown in the dense area, there is a big difference, so there is a problem of uneven material in the sowing width, which will affect the operation effect.

[0058] Figure 6 As shown, the left coverage area (left spreading area) is the coverage area of ​​the first side, and the right coverage area (right spreading area) is the coverage area of ​​the second side. The width of the coverage area on the first side is greater than the coverage area on the second side of the execution system.

[0059] It should be noted that Figure 6 The sowing width boundary shown is only one of the possibilities. 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. The right coverage area (right sowing area) is the coverage area of ​​the first side, and the left coverage area (left sowing area) is the coverage area of ​​the second side.

[0060] It should be noted that Figure 6The shown sowing width (also called spreading width) can be used as a working width. Figure 6 The problem of uneven material within the sowing width shown is the problem of uneven material within the coverage area during operation.

[0061] In order to overcome the impact of uneven material spreading in the coverage area on the operation, the embodiment of the present application provides an operation path planning method to plan the movement path of the drone during operation as the operation path. When the drone moves along the operation path to perform the operation, if the material is unevenly spread in the coverage area, the impact can be overcome to achieve comprehensive and uniform coverage of the operation area. The operation path planning method can be, but is not limited to, applied 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 operation path planning method 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 diagram, 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 operation path planning device. The operation path planning device 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 operation path planning method.

[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 operation path 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 are shown. Figure 7 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0069] An operation path planning method provided in an embodiment of the present application is used as a moving path of a drone when performing an operation. The drone is deployed with an execution system, and the execution system is used to perform a sowing operation along a forward direction. There is a sparse area at the edge of the coverage area of ​​the first side of the execution system, such as but not limited to Figure 6 As shown, the left coverage area (left sowing area) is the coverage area of ​​the first side, and the right coverage area (right sowing area) is the coverage area of ​​the second side. The left and right sides here are defined relative to the forward direction of the drone (for example, the flight direction of the drone). The material coverage density corresponding to the sparse area is less than the material coverage density of other parts (that is, the material coverage density corresponding to the dense area). Among them, the execution system can be but is not limited to a sowing system. The operation path planning method can be but is not limited to being applied to Figure 7For detailed procedures, please refer to the electronic equipment shown in Figure 8 , the operation path planning method includes: S101, S102 and S103, which are specifically described as follows.

[0070] S101, determining a reference route group based on a first width and a second width.

[0071] The first width is the width of the coverage area of ​​the first side of the execution system, the second width is the width of the sparse area, the reference route group includes two reference routes, and the sparse areas corresponding to the two reference routes at least partially overlap.

[0072] Please refer to Fig. 9 , Fig. 9 This is a schematic diagram of a reference route group provided in an embodiment of the present application. Fig. 9 As shown, the reference route group includes two reference routes, namely, a first reference route and a second reference route. The flight directions corresponding to the two reference routes are opposite, and the first side of the first reference route is adjacent to the first side of the second reference route. The first side here can be as follows Fig. 9 The left side relative to the reference course can also be Fig. 9 The distance between the two reference routes is equal to twice the first width minus the second width, that is, 2L-X.

[0073] Optionally, the width of the coverage area of ​​the first side of the execution system may be greater than, equal to, or smaller than the width of the coverage area of ​​the second side of the execution system, which is not limited here.

[0074] It should be noted that Fig. 9 for Figure 6 Schematic diagram of the corresponding reference route group, the left coverage area (left sowing area) is the coverage area of ​​the first side, the right coverage area (right sowing area) is the coverage area of ​​the second side, the width of the coverage area on the first side of the execution system is greater than the width of the coverage area on the second side of the execution system, that is, L is greater than R, at this time, the left coverage area of ​​the first reference route partially overlaps with the left coverage area of ​​the second reference route, and the width of the overlapping area is X.

[0075] In some possible implementations, the right coverage area (right sowing area) is the coverage area on the first side, and the left coverage area (left sowing area) is the coverage area on the second side. The width of the coverage area on the first side of the execution system is greater than the width of the coverage area on the second side of the execution system, that is, R is greater than L. At this time, the right coverage area of ​​the first reference route partially overlaps with the right coverage area of ​​the second reference route, and the width of the overlapping area is X. The distance between the two reference routes is equal to twice the first width minus the second width, that is, 2R-X.

[0076] When the UAV performs spreading operations along two reference routes, the sparse areas corresponding to the two reference routes completely or partially overlap, thereby increasing the density of the material spread in the sparse area and making the spreading operation more uniform.

[0077] S102, copying and translating the reference route group based on the first width, the second width and the third width to obtain an iterative route group.

[0078] The third width is the width of the coverage area of ​​the second side of the execution system.

[0079] For example Fig. 9 As shown, when the sparse area is located in the left coverage area, the coverage area on the second side is the right coverage area, and the corresponding third width is R. Conversely, when the sparse area is located in the right coverage area, the coverage area on the second side is the left coverage area, and the corresponding third width is L.

[0080] Please refer to Fig.10 , Fig.10 Provided for the embodiments of this application Fig. 9 Schematic diagram of the corresponding iterative route group. By duplicating the reference route group, multiple iterative route groups are obtained, each of which includes two iterative routes with opposite moving directions. During operation, the sparse areas corresponding to the two iterative routes completely or partially overlap, which increases the density of the material spread in the sparse area and makes the spreading operation more uniform.

[0081] And multiple iterative route groups are translated, and the i-th iterative route group is translated by i times the target translation distance, so that the baseline route group and multiple iterative route groups can fully and evenly cover the operating area.

[0082] S103, connecting the reference route group and all the iterative route groups in series by switching routes to obtain an operation path.

[0083] Please refer to Fig.11 , Fig.11 Provided for the embodiments of this application Fig.10 Schematic diagram of the corresponding operation path.

[0084] In the present application scheme, since the sparse areas corresponding to the two routes in the baseline route group completely or partially overlap, and the sparse areas corresponding to the two routes in the iterative route group completely or partially overlap, it can be determined that all sparse areas in the operation path are completely or partially overlapped. When the UAV moves along the operation path and performs sowing operations, the density of the sown materials in the sparse area is increased, making the sowing operation more uniform.

[0085] In summary, an embodiment of the present application provides a work path planning method, wherein the work path is used as a moving path for a drone when performing operations. The drone is deployed with an execution system, and the execution system is used to perform sowing operations along the forward direction. There is a sparse area at the edge of the coverage area of ​​the first side of the execution system. The work path planning method includes: determining a reference route group based on a first width and a second width, wherein the first width is the width of the coverage area of ​​the first side of the execution system, and the second width is the width of the sparse area. The reference route group includes two reference routes, and the sparse areas corresponding to the two reference routes at least partially overlap; based on the first width, the second width and the third width, the reference route group is copied and translated to obtain an iterative route group; wherein the third width is the width of the coverage area of ​​the second side of the execution system; the reference route group and all the iterative route groups are serially connected by switching routes to obtain the work path. Since the sparse areas corresponding to the two routes in the baseline route group completely or partially overlap, and the sparse areas corresponding to the two routes in the iterative route group completely or partially overlap, it can be determined that all sparse areas in the operation path are completely or partially overlapped. When the UAV moves along the operation path and performs sowing operations, the density of the sown materials in the sparse area is increased, making the sowing operation more uniform.

[0086] It should be noted that when the execution system is deployed on a drone, the corresponding first width, second width, and third width described later change with the flight altitude of the drone. In order to accurately obtain the reference route group, the first width, second width, and third width may be determined by table lookup or calculation based on the flight altitude of the drone before S101.

[0087] In some optional implementations, the distance between the first reference route in the reference route group and one side of the target operating area is equal to the third width, so that the target operating area can be completely covered.

[0088] In some optional implementations, the coverage areas corresponding to the reference route group and all iterative route groups completely cover the target operating area.

[0089] exist Figure 8 On this basis, regarding how to accurately obtain the reference route group to ensure that the final operation path can evenly spread the material to the target operation area when there are sparse areas and the execution system spreads unevenly, the embodiment of the present application provides an optional implementation method, please refer to the following. S101, determining the reference route group based on the first width and the second width, including: S101-1 and S101-2, which are specifically described as follows.

[0090] S101 - 1 , planning a first straight line route and a second straight line route, wherein the interval between the first straight line route and the second straight line route is twice the first width.

[0091] Please refer to Fig.12 , Fig.12 Provided for the embodiments of this application Figure 6 Schematic diagram of the corresponding first straight line route and second straight line route.

[0092] like Figure 6 and Fig.12 As shown, when the sparse area is located in the left coverage area, the first width is the width of the left coverage area, that is, L. The interval between the first straight line route and the second straight line route is twice the first width, that is, 2L.

[0093] Of course, when the sparse area is located in the right coverage area, the first width is the width of the right coverage area, that is, R. The interval between the first straight line route and the second straight line route is twice the first width, that is, 2R.

[0094] S101 - 2 , offset the second straight route by a second width in a direction close to the first straight route to obtain a reference route group.

[0095] Optionally, the first straight route is used as the first reference route in the reference route group, and the offset second straight route is used as the second reference route in the reference route group. Fig. 9 shown.

[0096] exist Figure 8 On the basis of how to perform translation to ensure more uniform material coverage during operation, the embodiment of the present application also provides an optional implementation method, please refer to the following. S102, based on the first width, the second width and the third width, the reference route group is copied and translated to obtain an iterative route group, including: S102-1 and S102-2, which are specifically described as follows.

[0097] S102 - 1 , determining a target translation distance based on the first width, the second width, and the third width.

[0098] Optionally, the target translation distance=2(first width+third width)-second width.

[0099] like Figure 6 In the case shown, the target translation distance is 2(L+R)-X, where L represents the first width (i.e., the width of the left coverage area), R represents the third width (i.e., the width of the right coverage area), and X represents the second width, i.e., the width of the sparse area.

[0100] Of course, when the sparse area is located in the right coverage area, the first width and the third width adaptably change, which will not be elaborated here.

[0101] S102-2, copy and translate the reference route group based on the target translation distance to obtain an iterative route group.

[0102] For details about the iterative route group obtained after copying and translating, please refer to Fig.10 .

[0103] In an optional embodiment, when there is also a sparse area at the edge of the coverage area on the second side of the execution system, and its width is the fourth width, represented by Y, the target translation distance is determined based on the first width, the second width, the third width and the fourth width, and the target translation distance is 2(L+R)-XY. In some optional embodiments, the unmanned aerial vehicle corresponding to the single auger and single spinner structure provided in the embodiment of the present application is an aircraft, and the aircraft can be but is not limited to a drone. The corresponding execution system is a spreading system, and the spreading system includes a material box 200, an auger conveying device 400 and a spreading mechanism 100, and the spreading mechanism 100 includes a spinner assembly 130, and the spinner assembly 130 rotates in one direction.

[0104] 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.

[0105] 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.

[0106] 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 a sparse area exists at the edge of a coverage area of ​​a first side of the execution system.

[0107] The present application also provides a method for controlling a job, which can be applied to but is not limited to Figure 7 Please refer to the electronic equipment shown. Fig.13 , Fig.13 The flowchart of the operation control method provided in the embodiment of the present application is as follows: S201 and S202 are described in detail.

[0108] S201, controlling the UAV to move according to the operation path obtained by the above-mentioned operation path planning method.

[0109] S202, controlling the execution system to perform operations.

[0110] When the UAV moves along the operating path to perform operations, if the material is unevenly spread in the coverage area, the impact caused by it can be overcome to achieve comprehensive and uniform coverage of the operating area.

[0111] See also Fig.14 , Fig.14 An operation path planning device is provided in an embodiment of the present application. Optionally, the operation path planning device is applied to the electronic device described above.

[0112] The operation path planning device includes: a first processing unit 501 and a second processing unit 502 .

[0113] A first processing unit 501 is configured to determine a reference route group based on a first width and a second width, wherein the first width is a width of a coverage area of ​​a first side of the execution system, and the second width is a width of a sparse area, and the reference route group includes two reference routes, and the sparse areas corresponding to the two reference routes at least partially overlap;

[0114] The first processing unit 501 is further used to copy and translate the reference route group based on the first width, the second width and the third width to obtain an iterative route group;

[0115] Wherein, the third width is the width of the coverage area of ​​the second side of the execution system;

[0116] The second processing unit 502 is used to connect the reference route group and all the iterative route groups in series by switching routes to obtain an operation path.

[0117] It should be noted that the operation path planning 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.

[0118] See also Fig.15 , Fig.15 An operation control device is provided in an embodiment of the present application. Optionally, the operation control device is applied to the electronic device described above.

[0119] The operation control device includes: a third processing unit 503 and a fourth processing unit 504.

[0120] The third processing unit 503 is used to control the UAV to move according to the operation path obtained by the above-mentioned operation path planning method.

[0121] The fourth processing unit 504 is used to control the execution system to perform operations.

[0122] It should be noted that the operation control 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.

[0123] The present application also provides a storage medium that stores computer instructions and programs, which, when read and executed, execute the operation path planning method and / or operation control method of the above embodiment. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0124] An electronic device is provided below, which may be a central control unit of a drone, a control terminal of a drone, a mobile phone, a computer, a server, etc. Figure 7 As shown, the above-mentioned operation path planning method and / or operation control method 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 operation path planning method and / or operation control method of the above-mentioned embodiment is executed.

[0125] 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 there is a sparse area at the edge of the coverage area of ​​the first side of the execution system.

[0126] 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.

[0127] 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 an operation path, characterized in that: The operation path is used as a moving path of the UAV when performing an operation. The UAV is deployed with an execution system, and the execution system is used to perform a sowing operation along a forward direction. There is a sparse area at the edge of the coverage area of ​​the first side of the execution system. The operation path planning method includes: Determine a reference route group based on a first width and a second width, wherein the first width is a width of a coverage area of ​​a first side of the execution system, the second width is a width of the sparse area, the reference route group includes two reference routes, and the sparse areas corresponding to the two reference routes at least partially overlap; Based on the first width, the second width and the third width, the reference route group is copied and translated to obtain an iterative route group; Wherein, the third width is the width of the coverage area of ​​the second side of the execution system; The reference route group and all the iterative route groups are connected in series by switching routes to obtain the operation path.

2. The operation path planning method according to claim 1, characterized in that: The step of determining the reference route group based on the first width and the second width includes: planning a first straight line route and a second straight line route, wherein the interval between the first straight line route and the second straight line route is twice the first width; The second straight route is offset by the second width in a direction close to the first straight route to obtain the reference route group.

3. The operation path planning method according to claim 1, characterized in that: The step of copying and translating the reference route group based on the first width, the second width, and the third width to obtain an iterative route group includes: determining a target translation distance based on the first width, the second width, and the third width; The reference route group is copied and translated based on the target translation distance to obtain an iterative route group.

4. The operation path planning method according to claim 3, characterized in that: The target translation distance=2(first width+third width)-second width.

5. The operation path planning method according to claim 1, characterized in that: The distance between the first reference route in the reference route group and one side of the target operation area is equal to the third width; and / or; The coverage areas corresponding to the reference route group and all iterative route groups completely cover the target operation area.

6. The operation path planning method according to any one of claims 1 to 5, characterized in that: The execution system is a spreading system, which includes a material box, an auger conveying device and a spreading mechanism, and the spreading mechanism includes a unidirectional rotating 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.

7. The operation path planning method according to claim 6, characterized in that: 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.

8. A method for controlling a job, characterized in that: The operation control method comprises: Controlling the UAV to move along the operation path obtained by the operation path planning method according to any one of claims 1 to 7; Control the execution system to perform operations.

9. An operation path planning device, characterized in that: The operation path is used as a moving path of the UAV when performing an operation. The UAV is deployed with an execution system, and the execution system is used to perform a sowing operation along a forward direction. There is a sparse area at the edge of the coverage area of ​​the first side of the execution system. The operation path planning device includes: A first processing unit is configured to determine a reference route group based on a first width and a second width, wherein the first width is a width of a coverage area of ​​a first side of the execution system, the second width is a width of the sparse area, the reference route group includes two reference routes, and the sparse areas corresponding to the two reference routes at least partially overlap; The first processing unit is further used for copying and translating the reference route group based on the first width, the second width and the third width to obtain an iterative route group; Wherein, the third width is the width of the coverage area of ​​the second side of the execution system; The second processing unit is used to connect the reference route group and all the iterative route groups in series by switching routes to obtain the operation path.

10. A work control device, characterized in that: The operation control device comprises: A third processing unit, used to control the UAV to move according to the operation path obtained by the operation path planning method according to any one of claims 1 to 7; The fourth processing unit is used to control the execution system to perform operations.

11. 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 8 is implemented.

12. 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 8 is implemented.

13. A drone, characterized in that: The drone is deployed with an execution system and the electronic device according to claim 12, the execution system is used to perform sowing operations along the forward direction, and there is a sparse area at the edge of the coverage area of ​​the first side of the execution system.

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