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Air route generation method and device, equipment and storage medium

A route and waypoint technology, applied in the field of UAV route planning, can solve problems such as difficult route fitting, unsatisfactory plant protection effect, insufficient fitting degree and smoothness, etc.

Active Publication Date: 2021-03-05
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a route generation method, route generation device, equipment and storage medium to solve the difficulties in route fitting, insufficient fitting degree and insufficient smoothness of routes generated in the prior art, resulting in low plant protection operation efficiency and poor plant protection effect ideal question

Method used

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  • Air route generation method and device, equipment and storage medium
  • Air route generation method and device, equipment and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0130] figure 1 A flow chart of a step of generating a route generating method according to an embodiment of the present invention, the embodiment of the present invention can be applied to generating a flight route, and the method can be performed by a route generating device in an embodiment of the present invention, which is available. Software and / or hardware are implemented, and integrated into electronic devices, such as figure 1 As shown, the method specifically includes the steps of:

[0131] S101, acquire user settings and flight parameters of the drone, the flight parameters comprise the target speed and maximum acceleration of the drone.

[0132] Among them, the navigation can be a point in which the drone needs to pass in the plant protection area may be that the user can be set according to the distribution of plant protection crops, or it can be automatically identified after the image data or geographic data of the plant protection area. The distribution of pla...

Embodiment 2

[0142] Figure 2A A flow chart of one route generating method according to Embodiment 2 of the present invention, the embodiment of the present invention is optimized by the first embodiment, providing an example of a flight speed of the navigation point and a nonlinear optimization of the initial route. Sexual implementation, specifically, such as Figure 2A As shown, the method of the embodiment of the present invention can include the following steps:

[0143] S201, obtain the flight parameters of the user set, the flight parameters, the flight parameters, including the target speed and maximum acceleration of the drone.

[0144] S202, using a straight line sequentially connected to the initial route.

[0145] S203, setting the first navigation and the last route of 0 is 0.

[0146] In practical applications, at the start of the route, drone starts to fly, at the end of the route, the drone stops flight landing, thus determining the first flight speed of 0.

[0147] S204, from...

Embodiment 3

[0226] image 3 A schematic structural diagram of a route generating apparatus provided in the third embodiment of the present invention, such as image 3 As shown, the route generating apparatus of the embodiment of the present invention may include:

[0227] The navigation and flight parameter acquisition module 301, for acquiring flight parameters set by the user setting, and the flight parameters comprise the target speed and maximum acceleration of the drone;

[0228] The initial route generation module 302 is used to use a straight line to sequentially connect the navigation point to the initial route;

[0229] The navigation flight speed determination module 303 is used to confine the curve in a preset speed, the target speed, and the maximum acceleration to determine the flight speed of the navigation point in the initial route;

[0230] The initial route optimization module 304 is configured to determine the initial route after determining the initial route after determini...

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Abstract

The embodiment of the invention discloses an air route generation method and device, equipment and a storage medium, and the air route generation method comprises the steps: obtaining waypoints set bya user and flight parameters of an unmanned plane, and sequentially connecting the waypoints through a straight line to obtain an initial air route; determining the flight speed of the waypoints in the initial route by taking a preset speed constraint curve, a target speed in the flight parameters and the maximum acceleration as constraints; and taking the target speed, the maximum acceleration and a preset route deviation value as constraints, and adopting a preset smoothing strategy to carry out nonlinear optimization on the initial route after the flight speed is determined to obtain a target route. According to the embodiment of the invention, the initial route after the waypoint flight speed is distributed is used as the initial value of nonlinear optimization so that the optimization difficulty is reduced, the optimization result is prevented from falling into local optimum, the target route with good smoothness and fitting degree can be obtained, and the efficiency and the effect of executing plant protection operation according to the target route are ensured.

Description

Technical field [0001] Embodiments of the present invention relate to the field of drone route planning, and more particularly to a route generation method, a route generating device, a device, and a storage medium. Background technique [0002] As drone technology is gradually mature, drones have been widely used in multiple fields, for example, drones can perform plant protection homework in the plant protection area based on pre-planned routes. [0003] At present, when the plant protection area of ​​fruit trees and tea gardens is more specially used for route planning, the following method is usually used, and the first is to use straight lines to connect all Navigation generated routes, and the other is the connection to all the route of all the route. route. [0004] In the first way, the route is connected by a multi-stage straight line, there is a large steering point, the drone needs to turn to the acceleration after reducing, reducing the efficiency of the plant protect...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/10
CPCG01C21/20G05D1/101
Inventor 郑立强
Owner GUANGZHOU XAIRCRAFT TECH CO LTD
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