Airline planning method and device, and obstacle avoidance method and device of plant protection aircraft

Abstract

The invention provides a route planning method and device, and an obstacle avoidance method and device of a plant protection aircraft, relates to the technical field of flight control, and solves the problem that an aircraft cannot execute an operation task across an operation leg. The route planning method comprises the following steps: acquiring a first route change point determined by a user; if the first route change point is located in a non-working area of the target working area, determining a second route change point on a target working route located in the non-working area based on the current position point of the aircraft and the first route change point; and then the target operation route is updated based on the current position point and the second route change point, so that the flight flexibility of the aircraft is improved, and the purpose that the aircraft executes the operation task across the operation route segments is achieved.

Description

[0001] This application is a divisional application of the invention patent application with the application date of November 10, 2022, the application number of 202211407992.0, and the invention title of "Route Planning Method and Device, Obstacle Avoidance Method and Device for Plant Protection Aircraft". Technical Field

[0002] This application relates to the field of flight control technology, and particularly relates to a route planning method and device, and an obstacle avoidance method and device for a plant protection aircraft. Background Art

[0003] With the progress of aircraft control technology, the functions of aircraft have become more and more perfect, and people have become inseparable from the use of aircraft in many application fields. Currently, when an aircraft operates, it usually adopts a fully autonomous mode, that is, the route of the aircraft is planned in advance, and then the aircraft automatically operates along the planned route.

[0004] However, the current fully autonomous mode has the problem of being unable to execute operation tasks across operation segments, that is, the flight route is not flexible enough to meet the personalized operation needs of users. Therefore, how to improve the flexibility of aircraft flight and enable the aircraft to execute operation tasks across operation segments has become an urgent problem to be solved. Summary of the Invention

[0005] In order to solve the above technical problems, this application is proposed. An embodiment of this application provides a route planning method and device, and an obstacle avoidance method and device for a plant protection aircraft.

[0006] In a first aspect, an embodiment of this application provides a route planning method, which includes: in response to a user's route change request, obtaining the current position point of the aircraft; based on the current position point, determining an optional area of the route change point corresponding to the current position point, so that the user can determine a first route change point based on the optional area of the route change point; when the aircraft operates along a target operation route in a target operation area, obtaining the first route change point determined by the user; if the first route change point is located in the unoperated area of the target operation area, determining a second route change point on the target operation route located in the unoperated area based on the current position point of the aircraft and the first route change point; and updating the target operation route based on the current position point and the second route change point, so that the aircraft can continue to operate along the updated target operation route.

[0007] In combination with the first aspect, in some implementations of the first aspect, determining a second route change point on a target operation route located in an unoperated area based on the current position point of the aircraft and the first route change point includes: determining the second route change point based on the intersection of a line segment with one end being the current position point and the other end being the first route change point and the target operation route, where the current position point, the first route change point, and the second route change point are located on the same line segment.

[0008] In combination with the first aspect, in some implementations of the first aspect, the route planning method further includes: if the first route change point is located in the operated area of the target operation area, determining the next arrival point of the aircraft on the target operation route; updating the target operation route based on the current position point, the first route change point, and the next arrival point, so that the aircraft continues to operate along the updated target operation route.

[0009] In combination with the first aspect, in some implementations of the first aspect, the route planning method further includes: representing the flight segment of the aircraft from the current position point to the first route change point with a dotted line.

[0010] In combination with the first aspect, in some implementations of the first aspect, the route planning method further includes: representing the flight segment of the aircraft from the first route change point to the next arrival point with a solid line.

[0011] In combination with the first aspect, in some implementations of the first aspect, obtaining the first route change point determined by the user includes: in response to the user's route change request, presenting the operation map corresponding to the target operation area to the user; obtaining the first route change point determined by the user in the operation map.

[0012] In a second aspect, an obstacle avoidance method for a plant protection aircraft provided by an embodiment of the present application includes: when the plant protection aircraft operates along a target operation route in a target operation area, determining the position point of an obstacle located in the target operation area; if the distance between the position point of the obstacle and the next arrival point during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, sending an obstacle avoidance reminder so that the user determines the first route change point corresponding to the plant protection aircraft in response to the obstacle avoidance reminder; updating the target operation route of the plant protection aircraft based on the route planning method mentioned in any of the above embodiments, so that the plant protection aircraft continues to operate along the updated target operation route, and the updated target operation route can bypass the obstacle.

[0013] In a third aspect, an embodiment of the present application provides a flight path planning device, which includes: an acquisition module, configured to, in response to a user's flight path change request, acquire the current position point of the aircraft, and to acquire a first flight path change point determined by the user when the aircraft operates along a target operation route in a target operation area; a determination module, configured to determine an optional area of the flight path change point corresponding to the current position point based on the current position point, so that the user determines the first flight path change point based on the optional area of the flight path change point, and to determine a second flight path change point on the target operation route located in the unoperated area based on the current position point of the aircraft and the first flight path change point if the first flight path change point is located in the unoperated area of the target operation area; an update module, configured to update the target operation route based on the current position point and the second flight path change point, so that the aircraft continues to operate along the updated target operation route.

[0014] In a fourth aspect, an embodiment of the present application provides an obstacle avoidance device for a plant protection aircraft, which includes: a determination module, configured to determine the position point of an obstacle located in a target operation area when the plant protection aircraft operates along a target operation route in the target operation area; a reminder module, configured to issue an obstacle avoidance reminder if the distance between the position point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, so that the user determines a first flight path change point corresponding to the plant protection aircraft in response to the obstacle avoidance reminder; an update module, configured to update the target operation route of the plant protection aircraft based on the flight path planning method mentioned in any of the above embodiments, so that the plant protection aircraft continues to operate along the updated target operation route, and the updated target operation route can bypass the obstacle.

[0015] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program for executing the method mentioned in any of the above embodiments.

[0016] In a sixth aspect, an embodiment of the present application provides an electronic device, which includes: a processor; a memory for storing instructions executable by the processor; the processor is configured to execute the method mentioned in any of the above embodiments.

[0017] The route planning method provided in an embodiment of the present application obtains a first route change point determined by a user when an aircraft is operating along a target operating route in a target operating area; if the first route change point is located in a non-operating area of the target operating area, a second route change point on the target operating route located in the non-operating area is determined based on the current position of the aircraft and the first route change point; and then the target operating route is updated based on the current position and the second route change point so that the aircraft can continue to operate along the updated target operating route, thereby improving the flexibility of the aircraft's flight and enabling the aircraft to achieve the purpose of performing operating tasks across operating segments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 The figure shows a scenario schematic diagram of updating a target operation route in the prior art.

[0020] Figure 2 Shown is a flow chart of a route planning method provided by an exemplary embodiment of the present application.

[0021] Figure 3 Shown is a schematic diagram of a scenario for updating a target operating route provided by an exemplary embodiment of the present application.

[0022] Figure 4 Shown is a schematic diagram of a scenario for updating a target operating route provided by another exemplary embodiment of the present application.

[0023] Figure 5 Shown is a schematic diagram of a scenario for updating a target operating route provided by another exemplary embodiment of the present application.

[0024] Figure 6 The figure shows a flow chart of determining a second route change point on a target operating route located in an unoperated area based on the current position point of the aircraft and the first route change point provided by an exemplary embodiment of the present application.

[0025] Figure 7 Shown is a schematic diagram of a scenario for determining a second route change point provided by an exemplary embodiment of the present application.

[0026] Figure 8 Shown is a flow chart of a route planning method provided by another exemplary embodiment of the present application.

[0027] Figure 9 The figure shows a schematic diagram of a scenario for determining an optional area of a route change point corresponding to a current position point provided by an exemplary embodiment of the present application.

[0028] Figure 10 The figure shows a schematic diagram of a process for obtaining a first route change point determined by a user provided by an exemplary embodiment of the present application.

[0029] Figure 11 The figure shows a schematic diagram of a process for an obstacle avoidance method of a plant protection aircraft provided by an exemplary embodiment of the present application.

[0030] Figure 12 The figure shows a schematic diagram of the structure of a route planning device provided by an exemplary embodiment of the present application.

[0031] Figure 13 The figure shows a schematic diagram of the structure of an obstacle avoidance device of a plant protection aircraft provided by an exemplary embodiment of the present application.

[0032] Figure 14 The figure shows a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present application. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0034] In addition, in order to better illustrate the present application, numerous specific details are given in the following detailed implementation manners. Those skilled in the art should understand that the present application can also be implemented without some specific details. In some instances, methods and means well known to those skilled in the art are not described in detail to highlight the gist of the present application.

[0035] It should be noted that similar reference numerals and letters indicate 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.

[0036] In addition, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0037] In the field of flight control technology, the route of an aircraft in flight is called an air traffic route, abbreviated as an airway. The airway of an aircraft not only determines the specific direction, origin and destination, and stopover points of the aircraft's flight, but also stipulates the width and flight altitude of the airway to ensure flight safety. The route between the takeoff of an aircraft and the next landing point or the next hover point is called a flight segment, and a flight segment is a one-way route of the aircraft's flight path. A route can include one or more flight segments. The intersection of adjacent flight segments is called a waypoint.

[0038] Figure 1 The following shows a schematic diagram of a scenario for updating a target operation route in the prior art. In the process of implementing the technical solution of the embodiments of the present application, the inventors of the present application found that: as Figure 1 shown, the current position point 1 where the aircraft is located, the next arrival waypoint 2 of the aircraft, the first route change point 3 determined by the user, and the arrow indicates the flight direction of the aircraft. When the existing aircraft is operating, if the user needs to control the aircraft to perform an operation task across an operation flight segment, such as the aircraft flying from the current position point 1 to the first route change point 3 for operation, the aircraft will fly from the current position point 1 to the first route change point 3 and then fly from the first route change point 3 to the next arrival waypoint 2 of the aircraft. It is equivalent to the aircraft finally flying back to the current flight segment, and the purpose of performing an operation task across an operation flight segment is not achieved. Therefore, the personalized operation needs of the user cannot be met, and there is a problem that the flight route is not flexible enough.

[0039] In order to solve the above technical problems, the present application is proposed.

[0040] Figure 2 The following shows a schematic flowchart of a route planning method provided by an exemplary embodiment of the present application. As Figure 2 shown, the route planning method provided by the embodiments of the present application includes the following steps.

[0041] Step S201, when the aircraft operates along the target operation route in the target operation area, obtain the first route change point determined by the user.

[0042] Figure 3 The following shows a schematic diagram of a scenario for updating a target operation route provided by an exemplary embodiment of the present application. Figure 4 The following shows a schematic diagram of a scenario for updating a target operation route provided by another exemplary embodiment of the present application. In one embodiment, as Figure 3 and Figure 4 shown, the target operation route is in a "bow" shape, and the target operation route includes at least one operation flight segment.

[0043] In one embodiment, the first route change point 3 determined by the user can be as Figure 3 or Figure 4 shown.

[0044] In step S202, if the first route change point is located in the unoperated area of the target operation area, based on the current position point of the aircraft and the first route change point, a second route change point on the target operation route located in the unoperated area is determined.

[0045] As Figure 3 and Figure 4 shown, if the first route change point 3 is located in the unoperated area of the target operation area, based on the current position point 1 and the first route change point 3, a second route change point 4 is determined. Among them, the second route change point 4 is located on the target operation route in the unoperated area. Specifically, based on the intersection of the line segment with one end being the current position point 1 and the other end being the first route change point 3 and the target operation route, the second route change point 4 is determined. That is to say, the current position point 1, the first route change point 3, and the second route change point 4 are located on the same line segment.

[0046] Taking the position point O of the obstacle being located at the next arrival waypoint 2 of the aircraft as an example, based on the intersection of the line segment with one end being the current position point 1 and the other end being the first route change point 3 and the target operation route, the second route change point 4 is determined, so that the current position point 1, the first route change point 3, and the second route change point 4 are located on the same line segment, ensuring that the aircraft bypasses the obstacle located at the position point O, and at the same time controlling the target operation route that cannot be operated due to obstacle avoidance within the minimum range, reducing the impact caused by obstacle avoidance.

[0047] In step S203, based on the current position point and the second route change point, the target operation route is updated so that the aircraft can continue to operate along the updated target operation route.

[0048] In an embodiment, as Figure 3 and Figure 4 shown, the aircraft flies from the current position point 1 to the second route change point 4, and then continues to operate along the target operation route from the second route change point 4, thereby updating the target operation route and no longer flying to the next arrival waypoint 2, thus improving the flight flexibility of the aircraft and enabling the aircraft to achieve the purpose of executing the operation task across the operation segments.

[0049] In an embodiment, the aircraft flies from the current position point 1 to the second route change point 4, and this flight segment can be represented by a dotted line, which is used to indicate that the aircraft does not perform operations during this flight segment.

[0050] The route planning method provided by the embodiment of the present application further includes the following steps.

[0051] In step S204, if the first route change point is located in the operated area of the target operation area, the next arrival waypoint of the aircraft on the target operation route is determined.

[0052] Figure 5 The following is a schematic diagram of a scenario for updating a target operation route provided by another exemplary embodiment of the present application. In one embodiment, as Figure 5 shown, if the first route change point 3 is located in the already-operated area of the target operation area, then the next arrival waypoint 2 is determined.

[0053] Step S205: Update the target operation route based on the current position point, the first route change point, and the next arrival waypoint, so that the aircraft continues to operate along the updated target operation route.

[0054] In one embodiment, as Figure 5 shown, the aircraft flies from the current position point 1 to the first route change point 3, and then flies from the first route change point 3 to the next arrival waypoint 2, thereby updating the target operation route.

[0055] In one embodiment, the aircraft flies from the current position point 1 to the first route change point 3. This flight segment can be represented by a dotted line, which is used to indicate that the aircraft does not perform operations during this flight segment to prevent repeated operations in the already-operated area.

[0056] In one embodiment, the aircraft flies from the first route change point 3 to the next arrival waypoint 2. This flight segment can be represented by a solid line, which is used to indicate that the aircraft performs operations during this flight segment.

[0057] In the actual application process, when the aircraft operates along the target operation route in the target operation area, first obtain the first route change point determined by the user. If the first route change point is located in the unoperated area of the target operation area, then based on the current position point of the aircraft and the first route change point, determine the second route change point on the target operation route located in the unoperated area. Then, based on the current position point and the second route change point, update the target operation route so that the aircraft continues to operate along the updated target operation route, thereby improving the flight flexibility of the aircraft and enabling the aircraft to achieve the purpose of performing operation tasks across operation segments.

[0058] In another application scenario, if the first route change point is located in the already-operated area of the target operation area, then determine the next arrival waypoint of the aircraft on the target operation route, and then update the target operation route based on the current position point, the first route change point, and the next arrival waypoint, so that the aircraft continues to operate along the updated target operation route.

[0059] Figure 6 The following is a schematic flowchart of determining the second route change point on the target operation route located in the unoperated area based on the current position point of the aircraft and the first route change point provided by an exemplary embodiment of the present application. In the present application Figure 2 Based on the embodiment shown, the present application is extended Figure 6The following focuses on the described embodiments. Figure 6 The described embodiment and Figure 2 the differences from the described embodiment will be elaborated below, while the similarities will not be repeated.

[0060] As Figure 6 shown, in the route planning method provided in the embodiment of the present application, the step of determining the second route change point on the target operation route located in the unoperated area based on the current position point of the aircraft and the first route change point includes the following steps.

[0061] Step S601: Generate a connection line between the current position point of the aircraft and the first route change point.

[0062] Figure 7 Shown is a schematic diagram of the scenario for determining the second route change point provided by an exemplary embodiment of the present application. In one embodiment, the first route change point 3 determined by the user is as Figure 7 shown, connecting the current position point 1 and the first route change point 3.

[0063] Step S602: Determine multiple intersection points between the connection line and multiple operation segments included in the unoperated area.

[0064] As Figure 7 shown, the unoperated area includes multiple operation segments, and the line segment formed by the current position point 1 and the first route change point 3 intersects multiple operation segments included in the unoperated area at multiple intersection points.

[0065] Step S603: Determine the intersection point closest to the current position point among the multiple intersection points as the second route change point.

[0066] In one embodiment, as Figure 7 shown, on the premise of ensuring that the aircraft can perform operation tasks across operation segments, in order to control the dropped operation segment to the smallest range, the intersection point closest to the current position point among the multiple intersection points is determined as the second route change point 4.

[0067] In the actual application process, first, a connection line between the current position point of the aircraft and the first route change point is generated, then multiple intersection points between the connection line and multiple operation segments included in the unoperated area are determined, and then the intersection point closest to the current position point among the multiple intersection points is determined as the second route change point to control the dropped operation segment to the smallest range.

[0068] Figure 8 Shown is a flowchart of the route planning method provided by another exemplary embodiment of the present application. Based on the Figure 2 described embodiment of the present application, the Figure 8The embodiments shown will be described in detail below. Figure 8 The embodiments shown and Figure 2 the differences between the embodiments shown will be described below. The similarities will not be elaborated.

[0069] As Figure 8 shown, in the route planning method provided by the embodiments of the present application, before the step of obtaining the first route change point determined by the user, the following steps are further included.

[0070] Step S801: In response to the user's route change request, obtain the current position point of the aircraft.

[0071] Step S802: Based on the current position point, determine the optional area of the route change point corresponding to the current position point, so that the user can determine the first route change point based on the optional area of the route change point.

[0072] Figure 9 Shown is a schematic diagram of the scenario for determining the optional area of the route change point corresponding to the current position point provided by an exemplary embodiment of the present application. In one embodiment, as Figure 9 shown, with the current position point 1 of the aircraft as the center and a preset distance as the radius R, a circular area is generated, and this circular area is the optional area of the route change point corresponding to the current position point. In addition, the optional area of the route change point can also be an area of other shapes, generated based on other methods, and the embodiments of the present application do not further limit this.

[0073] In the actual application process, first, in response to the user's route change request, obtain the current position point of the aircraft, and then based on the current position point, determine the optional area of the route change point corresponding to the current position point, so that the user can determine the first route change point based on the optional area of the route change point.

[0074] Figure 10 Shown is a schematic diagram of the process for obtaining the first route change point determined by the user provided by an exemplary embodiment of the present application. Based on the embodiments shown in the present application Figure 2 the embodiments shown in the present application are extended. Figure 10 The embodiments shown will be described in detail below. Figure 10 The differences between the embodiments shown and Figure 2 the embodiments shown will be described below. The similarities will not be elaborated.

[0075] As Figure 10 shown, in the route planning method provided by the embodiments of the present application, the step of obtaining the first route change point determined by the user includes the following steps.

[0076] Step S1001: In response to the user's route change request, present the operation map corresponding to the target operation area to the user.

[0077] In one embodiment, a job map as shown in Figures 3 to 5 is presented to the user.

[0078] In one embodiment, when there is an obstacle at the position of the next arrival waypoint 2, the flight path needs to be changed so that the aircraft bypasses the obstacle.

[0079] Step S1002: Obtain the first flight path change point determined by the user in the job map.

[0080] In the actual application process, first in response to the user's flight path change request, a job map corresponding to the target job area is presented to the user, and then the first flight path change point determined by the user in the job map is obtained.

[0081] Figure 11 The figure shows a schematic flow chart of the obstacle bypass method of the plant protection aircraft provided by an exemplary embodiment of the present application. As shown in Figure 11 The obstacle bypass method of the plant protection aircraft provided by the embodiment of the present application includes the following steps.

[0082] Step S1101: When the plant protection aircraft operates along the target operation flight path in the target operation area, determine the position point of the obstacle located in the target operation area.

[0083] In one embodiment, as shown in Figure 1 , 3 , 4, 5, 7, 9, the position point O of the obstacle is located at the next arrival waypoint 2 in the figure.

[0084] Step S1102: If the distance between the position point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within the preset obstacle bypass distance, a bypass reminder is issued so that the user can determine the first flight path change point corresponding to the plant protection aircraft in response to the bypass reminder.

[0085] In one embodiment, the preset obstacle bypass distance refers to a safe distance that ensures the plant protection aircraft can successfully bypass the obstacle.

[0086] Step S1103: Update the target operation flight path of the plant protection aircraft based on the flight path planning method mentioned in any of the above embodiments, so that the plant protection aircraft continues to operate along the updated target operation flight path, and the updated target operation flight path can bypass the obstacle.

[0087] Just as Figure 1In the discussion of the embodiments, the existing aircraft will eventually fly to the next arrival waypoint 2. Therefore, it is impossible to avoid obstacles whose distance from the next arrival waypoint 2 falls within the preset obstacle avoidance distance, that is, the existing aircraft cannot avoid obstacles near the next arrival waypoint 2, and it is very likely to collide with obstacles on the way to the next arrival waypoint 2. However, by updating the target operation route of the plant protection aircraft based on the route planning method mentioned in any of the above embodiments of the present application, the plant protection aircraft flies to a section outside the current flight section and successfully avoids the obstacles.

[0088] In the actual application process, when the plant protection aircraft operates along the target operation route in the target operation area, first determine the position points of the obstacles located in the target operation area. If the distance between the position points of the obstacles and the next arrival waypoint during the flight of the plant protection aircraft falls within the preset obstacle avoidance distance, a collision avoidance reminder is issued, and then the target operation route of the plant protection aircraft is updated based on the route planning method mentioned in any of the above embodiments, so that the plant protection aircraft can successfully avoid the obstacles near the next arrival waypoint.

[0089] Figure 12 The following shows a schematic structural diagram of a route planning device provided by an exemplary embodiment of the present application. As Figure 12 shown, the route planning device provided by the embodiment of the present application includes:

[0090] An acquisition module 201, configured to acquire a first route change point determined by the user when the aircraft operates along the target operation route in the target operation area, and the target operation route includes at least one operation section.

[0091] A determination module 202, configured to, if the first route change point is located in the unoperated area of the target operation area, determine a second route change point on the target operation route located in the unoperated area based on the current position point of the aircraft and the first route change point.

[0092] An update module 203, configured to update the target operation route based on the current position point and the second route change point, so that the aircraft can continue to operate along the updated target operation route.

[0093] In an embodiment of the present application, the determination module 202 is further configured to generate a connection line between the current position point and the first route change point based on the current position point of the aircraft and the first route change point; determine multiple intersection points between the connection line and multiple operation sections included in the unoperated area; and determine the intersection point closest to the current position point among the multiple intersection points as the second route change point.

[0094] In an embodiment of the present application, the acquisition module 201 is further configured to acquire the current position point of the aircraft in response to a route change request from the user.

[0095] The determination module 202 is further configured to determine an optional area of the route change point corresponding to the current position point based on the current position point, so that the user can determine the first route change point based on the optional area of the route change point.

[0096] In an embodiment of the present application, the determination module 202 is further configured to determine the next arrival waypoint of the aircraft on the target operation route if the first route change point is located in the operated area of the target operation area.

[0097] The update module 203 is further configured to update the target operation route based on the current position point, the first route change point, and the next arrival waypoint, so that the aircraft can continue to operate along the updated target operation route.

[0098] In an embodiment of the present application, the acquisition module 201 is further configured to present an operation map corresponding to the target operation area to the user in response to the user's route change request; and acquire the first route change point determined by the user in the operation map.

[0099] Figure 13 The following is a schematic structural diagram of an obstacle avoidance device for a plant protection aircraft provided by an exemplary embodiment of the present application. As Figure 13 shown, the obstacle avoidance device for a plant protection aircraft provided by an embodiment of the present application includes:

[0100] The determination module 1101 is configured to determine the position point of the obstacle located in the target operation area when the plant protection aircraft operates along the target operation route in the target operation area.

[0101] The reminder module 1102 is configured to issue an obstacle avoidance reminder if the distance between the position point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, so that the user can determine the first route change point corresponding to the plant protection aircraft in response to the obstacle avoidance reminder.

[0102] The update module 1103 is configured to update the target operation route of the plant protection aircraft based on the route planning method mentioned in any of the above embodiments, so that the plant protection aircraft can continue to operate along the updated target operation route, and the updated target operation route can bypass the obstacle.

[0103] It should be understood that Figure 12 The operations and functions of the acquisition module 201, the determination module 202, and the update module 203 in the provided route planning device can refer to the above Figures 1 to 10 provided route planning method, Figure 13 The operations and functions of the determination module 1101, the reminder module 1102, and the update module 1103 in the provided obstacle avoidance device for a plant protection aircraft can refer to the above Figure 11 provided obstacle avoidance method for a plant protection aircraft. To avoid repetition, they will not be elaborated here.

[0104] Next, with reference to Figure 14 the electronic device according to an embodiment of the present application will be described. Figure 14 The following shows a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0105] As Figure 14 shown, the electronic device 10 includes one or more processors 101 and a memory 102.

[0106] The processor 101 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0107] [[ID=ID=16]]The memory 102 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 101 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as the first flight route change point and the second flight route change point may also be stored in the computer-readable storage medium.

[0108] In one example, the electronic device 10 may further include: an input device 103 and an output device 104, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0109] The input device 103 may include, for example, a keyboard, a mouse, and so on.

[0110] The output device 104 may output various information to the outside, including the first flight route change point, the second flight route change point, etc. The output device 104 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and so on.

[0111] Of course, for simplicity, Figure 14 only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application scenarios, the electronic device 10 may further include any other appropriate components.

[0112] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods according to various embodiments of the present application described above in this specification.

[0113] The computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The programming code may be executed entirely on a user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0114] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods according to various embodiments of the present application described above in this specification.

[0115] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0116] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purposes of illustration and facilitating understanding, and are not limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0117] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms meaning "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0118] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0119] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0120] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A route planning method, characterized in that, Including: In response to a user's flight route change request, obtain the current position point of the aircraft; Based on the current position point, determine an optional area of the flight route change point corresponding to the current position point, so that the user can determine a first flight route change point based on the optional area of the flight route change point; When the aircraft operates along a target operation route in a target operation area, obtain the first flight route change point determined by the user; If the first flight route change point is located in the unoperated area of the target operation area, based on the current position point of the aircraft and the first flight route change point, determine a second flight route change point on the target operation route located in the unoperated area; Based on the current position point and the second flight route change point, update the target operation route, so that the aircraft can continue to operate along the updated target operation route.

2. The route planning method according to claim 1, wherein The determining the second flight route change point on the target operation route located in the unoperated area based on the current position point of the aircraft and the first flight route change point includes: Based on the intersection point of the line segment with one end being the current position point and the other end being the first flight route change point and the target operation route, determine the second flight route change point, where the current position point, the first flight route change point, and the second flight route change point are located on the same line segment.

3. The route planning method according to claim 1, characterized in that, Also including: If the first flight route change point is located in the operated area of the target operation area, determine the next arrival waypoint of the aircraft on the target operation route; Based on the current position point, the first flight route change point, and the next arrival waypoint, update the target operation route, so that the aircraft can continue to operate along the updated target operation route.

4. The route planning method according to any one of claims 1 to 3, characterized in that, Also including: Represent the flight segment of the aircraft flying from the current position point to the first flight route change point with a dotted line.

5. The route planning method according to any one of claims 1 to 3, characterized in that, Also including: Represent the flight segment of the aircraft flying from the first flight route change point to the next arrival waypoint with a solid line.

6. The route planning method according to claim 1, wherein The obtaining the first flight route change point determined by the user includes: In response to the user's flight route change request, present the operation map corresponding to the target operation area to the user; Obtain the first flight route change point determined by the user in the operation map.

7. A method for an obstacle avoidance of a plant protection aircraft, characterized in that, Including: When a plant protection aircraft operates along a target operation route in a target operation area, determine the position points of obstacles located in the target operation area; If the distance between the position point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, issue an obstacle avoidance reminder, so that the user can determine a first flight route change point corresponding to the plant protection aircraft in response to the obstacle avoidance reminder; Update the target operation route of the plant protection aircraft based on the flight route planning method according to any one of claims 1 to 6 above, so that the plant protection aircraft can continue to operate along the updated target operation route, and the updated target operation route can bypass the obstacle.

8. An air route planning device, characterized in that, Including: An acquisition module, configured to acquire the current position point of the aircraft in response to a user's flight route change request, and to acquire the first flight route change point determined by the user when the aircraft operates along a target flight route in a target operation area; A determination module, configured to determine an optional area of a flight route change point corresponding to the current position point based on the current position point, so that the user can determine the first flight route change point based on the optional area of the flight route change point, and to determine a second flight route change point on the target flight route located in the unoperated area based on the current position point of the aircraft and the first flight route change point if the first flight route change point is located in the unoperated area of the target operation area; An update module, configured to update the target flight route based on the current position point and the second flight route change point, so that the aircraft can continue to operate along the updated target flight route.

9. An obstacle avoidance device for a plant protection aircraft, characterized in that, Comprising: A determination module, configured to determine the position point of an obstacle located in a target operation area when a plant protection aircraft operates along a target flight route in the target operation area; A reminder module, configured to issue an obstacle avoidance reminder if the distance between the position point of the obstacle and the next arrival waypoint during the flight of the plant protection aircraft falls within a preset obstacle avoidance distance, so that the user can determine the first flight route change point corresponding to the plant protection aircraft in response to the obstacle avoidance reminder; An update module, configured to update the target flight route of the plant protection aircraft based on the flight route planning method according to any one of claims 1 to 6 above, so that the plant protection aircraft can continue to operate along the updated target flight route, and the updated target flight route can bypass the obstacle.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7 above.

11. An electronic device, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; The processor is configured to execute the method according to any one of claims 1 to 7 above.

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