CN112598187A - Method and device for generating collaborative work route, computer equipment and storage medium - Google Patents
Method and device for generating collaborative work route, computer equipment and storage mediumDownload PDFInfo
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Abstract
Description
Technical Field
The embodiment of the invention relates to a path planning and motion control technology, in particular to a method and a device for generating a collaborative operation route, computer equipment and a storage medium.
Background
With the development of agricultural modernization, unmanned equipment such as unmanned aerial vehicles, unmanned vehicles and the like is applied to various operations such as seeding, spraying or harvesting of farmlands, after a terminal device generates an operation route, the operation route and operation parameters are sent to the unmanned equipment, and the unmanned equipment performs automatic operation according to the operation route and the operation parameters.
In the prior art, an operation route is generally planned for a single unmanned device, when a to-be-operated area needs to be operated by a plurality of unmanned devices in a linkage mode, the to-be-operated area is also divided into a plurality of plots, the operation route is planned for the single unmanned device on each plot, and at present, a route planning scheme for the cooperative operation of the plurality of unmanned devices is temporarily omitted.
Disclosure of Invention
The embodiment of the invention provides a method and a device for generating a collaborative operation route, computer equipment and a storage medium, which are used for planning the operation route according to the attribute of each unmanned equipment when a plurality of unmanned equipments collaborate.
In a first aspect, an embodiment of the present invention provides a method for generating a collaborative work route, where the method includes:
acquiring a target operation route to be operated, and dividing the target operation route into operation sections of at least one operation level;
dividing a plurality of unmanned devices according to work grades, and distributing each work section to the plurality of unmanned devices;
and respectively forming a coordinated operation route corresponding to each unmanned device according to the operation road sections distributed to each unmanned device.
In a second aspect, an embodiment of the present invention further provides a device for generating a collaborative work route, where the device includes:
the system comprises a target operation route dividing module, a target operation route dividing module and a target operation route dividing module, wherein the target operation route dividing module is used for acquiring a target operation route to be operated and dividing the target operation route into operation sections of at least one operation grade;
the operation section distribution module is used for dividing a plurality of unmanned equipment according to operation grades and distributing each operation section to the plurality of unmanned equipment;
and the collaborative operation route generation module is used for respectively forming collaborative operation routes corresponding to the unmanned equipment according to the operation sections distributed to the unmanned equipment.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for generating a collaborative work route according to any one of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are used for executing the method for generating a collaborative work route according to any one of the embodiments of the present invention.
According to the method and the device, the target operation route to be operated is divided into a plurality of operation sections according to the operation levels, each operation section is distributed to the matched unmanned equipment according to the operation levels, and the cooperative operation route of each unmanned equipment is generated according to the operation sections distributed to each unmanned equipment. The method and the device fill the gap of route planning when a plurality of unmanned devices collaboratively operate in the prior art, and realize operation route planning aiming at the attribute of each unmanned device when the plurality of unmanned devices collaboratively operate.
Drawings
Fig. 1 is a flowchart of a method for generating a collaborative work route according to a first embodiment of the present invention;
fig. 2a is a flowchart of a method for generating a collaborative work route according to a second embodiment of the present invention;
FIG. 2b is a schematic illustration of a cut-out road segment suitable for use in embodiments of the present invention;
fig. 3 is a schematic structural diagram of a cooperative operation route generation device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for generating a collaborative work route according to an embodiment of the present invention, where the embodiment is applicable to a case where a plurality of pieces of unmanned equipment are assigned with work routes during multi-machine collaborative work, and the method may be executed by a device for generating a collaborative work route, where the device may be implemented by software and/or hardware and is generally integrated in a computer device.
As shown in fig. 1, the technical solution of the embodiment of the present invention specifically includes the following steps:
and S110, acquiring a target operation route to be operated, and dividing the target operation route into operation sections of at least one operation level.
The target operation route is an operation route generated after a path of the area to be operated is planned, a starting point of the target operation route may be a certain point on a boundary of the area to be operated, or a current position point of a certain unmanned device, which is not limited in this embodiment.
The operation level of the operation section is used for indicating an operation request for the operation section, and the operation level of the operation section can be indicated by an operation parameter request of the operation section. For example, when the job is a spraying job, the highest job level may be set to correspond to the maximum spraying flow rate. The work parameter requirement of the work section may be set in advance by a user, or determined according to a prescription chart automatically generated by a fertilization prescription chart or the like, or determined according to a result measured and calculated by an agricultural management system.
The operation section is a plurality of sections obtained by dividing the target operation route according to the operation level, and the operation sections of different operation levels need to be operated by the unmanned equipment of the corresponding operation level.
In the embodiment of the invention, after the target operation route is acquired, the target operation route is divided into a plurality of operation sections with different operation levels. The purpose of dividing the operation route is that different unmanned devices can be distributed to road sections with different operation requirements, so that the operation route planning can be realized according to different attributes of each unmanned device, and the operation efficiency of the unmanned devices is improved.
And S120, dividing a plurality of unmanned devices according to the operation grades, and distributing each operation section to the plurality of unmanned devices.
When the operation level of the operation section is indicated by the operation parameter requirement of the operation section, each of the unmanned devices may be classified by the operation level. Specifically, the working parameters of each unmanned device, such as the size of the spraying particles, the flow rate, the range of the spreading angle, and the like, may be obtained, and then each unmanned device may be divided according to the operation grade of the operation road section and the working parameters of the unmanned device. For example, the road section of the highest working level requires a scattering range of 4 square meters, the drones having a scattering range of 4 square meters are all divided into one group, and the road section of the highest working level is allocated to the group of drones.
In the embodiment of the invention, the types of the work executed by the unmanned devices are the same, but the working grades of the working sections which can be executed by the unmanned devices are different because the working parameters of the unmanned devices may be different. Illustratively, each drone may be a planting device, but each drone may have a different range of angles of broadcast. Therefore, when the work grades are different for each work segment in the target work route, the work can be performed only by the corresponding grade of unmanned equipment or by the higher grade of unmanned equipment.
For example, when the work level of a certain work section is highest, the work of the work section can be performed only by the unmanned device with the highest level. When the work level of a certain work section is the lowest, all the unmanned devices can perform the work of the work section. When the work level of a certain work section is medium, the corresponding unmanned device at the level and higher than the level can perform the work of the work section.
In the embodiment of the invention, each unmanned device is matched with the operation level of each operation section, and each operation section is allocated to the unmanned device with the matched operation level. And realizing the cooperative operation of each unmanned device according to the operation attribute.
And S130, respectively forming a cooperative work route corresponding to each unmanned device according to the work sections distributed to each unmanned device.
In the embodiment of the present invention, after each operation section is assigned to each unmanned device, the cooperative operation route of each unmanned device is generated based on the operation section assigned by each unmanned device. Specifically, each target operation section obtained by allocating the target unmanned aerial vehicle may be connected end to obtain the target cooperative operation route.
According to the technical scheme of the embodiment, the target operation route to be operated is divided into a plurality of operation sections according to the operation levels, each operation section is distributed to the matched unmanned equipment according to the operation levels, and the cooperative operation route of each unmanned equipment is generated according to the operation sections distributed to each unmanned equipment. The method and the device fill the gap of route planning when a plurality of unmanned devices collaboratively operate in the prior art, and realize operation route planning aiming at the attribute of each unmanned device when the plurality of unmanned devices collaboratively operate.
Optionally, the obtaining of the target operation route to be operated may include: acquiring area parameters of an area to be operated, and selecting target unmanned equipment from the unmanned equipment; and planning a route of the area to be operated according to the area parameters of the area to be operated by taking the position of the target unmanned equipment as a starting point to obtain a target operation route to be operated.
The area to be operated is an area needing unmanned equipment route planning, the area parameters can include area boundary endpoint position coordinates, obstacle positions and types of the area to be operated, and the area parameters of the area to be operated can be obtained by mapping the area to be operated in advance.
The target unmanned device may be selected from the unmanned devices in a random selection manner, or may be selected as the target unmanned device after the current position of each unmanned device is acquired, where a specific manner of selecting the target unmanned device is not limited in this embodiment.
After the target unmanned equipment is selected, path planning is carried out according to the area parameters of the area to be operated by taking the current position of the target unmanned equipment as a starting point, and a target operation route is obtained. For example, the target working route may be a "bow" shape, but the embodiment does not limit the specific way of path planning and the specific representation form of the target working route. Optionally, the target operation route may further include an obstacle avoidance route, which is used for enabling the unmanned device to detour or fly around the obstacle according to the obstacle avoidance route when operating according to the target operation route.
In the embodiment of the present invention, the current position of the target unmanned aerial vehicle is used as the starting point of the target operation route to generate the target operation route, and the boundary end point of the area to be operated can also be directly used as the starting point to plan the target operation route.
Optionally, dividing a plurality of unmanned devices according to a job class and assigning each of the job segments to the plurality of unmanned devices may include: dividing each unmanned device and each road section into at least one unmanned device group and at least one road section group respectively according to the operation grade; and distributing each section group to the unmanned equipment group matched with the operation grade, and distributing each section in each section group to each unmanned equipment in the matched unmanned equipment group in a length sharing mode.
In the embodiment of the invention, each unmanned device can be divided into different unmanned device groups according to the work requirement of each work level of the work section on the unmanned device, each work section can be divided into different section groups according to the work level of the work section, and each section group is allocated to the matched unmanned device group.
When the road section is distributed, the shortest operation level matching and the shortest total operation time can be used as the distribution basis. Specifically, the higher-level unmanned device can perform the work on the same or other lower-level work segment, but the lower-level unmanned device cannot perform the work on the higher-level work segment. Meanwhile, when a plurality of unmanned devices operate together, the total operation time is long for the unmanned device with the slowest operation, so that the total operation time can be ensured to be short when the operation time of each unmanned device is consistent or has little difference.
When the speeds of the unmanned devices are the same and the unmanned devices operate at a constant speed, on the premise of ensuring grade matching, the unmanned devices are allocated to the road sections on the principle of equal length or less length difference. When the speeds of the unmanned devices are different and the unmanned devices operate at a constant speed, on the premise of ensuring grade matching, all the sections are distributed to the unmanned devices on the principle that the section length ratio and the speed ratio which are distributed by the unmanned devices are the same or have little difference. For the unmanned equipment of the same grade, the lengths of the road sections distributed by the unmanned equipment are ensured to be equal.
Example two
Fig. 2a is a flowchart of a method for generating a collaborative work route according to a second embodiment of the present invention, which further embodies a process of acquiring a target work route and a process of assigning a work segment to an unmanned device according to the second embodiment of the present invention.
Correspondingly, as shown in fig. 2a, the technical solution of the embodiment of the present invention specifically includes the following steps:
s210, obtaining area parameters of the area to be operated, and selecting target unmanned equipment from the unmanned equipment.
In the embodiment of the present invention, the target work route is generated with the current position of the target unmanned aerial device as the starting point of the target work route.
And S220, planning a route of the area to be operated according to the area parameters of the area to be operated by taking the position of the target unmanned equipment as a starting point, and obtaining a target operation route to be operated.
In the embodiment of the present invention, a specific manner of performing path planning according to the starting point and the area parameter is not limited.
And S230, dividing each unmanned device and each road section into at least one unmanned device group and at least one road section group according to the operation level.
In the embodiment of the invention, each unmanned device can be divided into different unmanned device groups according to the working parameters of each unmanned device, each operation road section can be divided into different road section groups according to the operation grade of the operation road section, and each road section group is distributed to the matched unmanned device group.
And S240, distributing each section group to the unmanned equipment group with the matched operation level, and distributing each section in each section group to each unmanned equipment in the matched unmanned equipment group according to a length sharing mode.
Specifically, the length of the road section allocated by each unmanned device may be calculated according to the sum of the lengths of the operation road sections in the road section group corresponding to each level and the number of the unmanned devices in the unmanned device group corresponding to the road section group. That is, the same link length is assigned to each of the unmanned devices in the same-class unmanned device group. After the distribution is completed, the road section lengths distributed by the unmanned equipment of different levels can be adjusted according to the principle that the total duration is shortest.
And S250, acquiring the single-equipment distribution route length corresponding to each unmanned equipment group and the single-equipment standard route length corresponding to the target operation route.
The single-equipment distribution route length refers to an average distribution route length calculated according to the sum of the lengths of all the operation road sections in the road section group matched with the unmanned equipment group and the number of the unmanned equipment in the unmanned equipment group. The single-equipment standard route length refers to the average distribution route length calculated according to the total length of the target operation route, the total number of all unmanned equipment and the respective speed.
In the embodiment of the invention, the length of the single-equipment distribution route is adjusted according to the length of the single-equipment standard route, so that the length of the road section distributed among the unmanned equipment of different levels can be ensured to be matched with the speed of the unmanned equipment of different levels, the operation time difference of each unmanned equipment is ensured to be less, and the total operation time is reduced.
Wherein, S250 may further include:
and S251, respectively calculating the total length of each operation road section in the road section group matched with each unmanned equipment group, and calculating the length of the single equipment distribution route corresponding to each unmanned equipment group according to each total length and the number of the unmanned equipment in each unmanned equipment group.
Illustratively, when the total length of the target work route is 100m, the total length of each work link in the link group of the highest work level is 50m, the total length of each work link in the link group of the medium work level is 45m, and the total length of each work link in the link group of the lowest work level is 5 m. In the highest-level unmanned device group, there are 5 unmanned devices in total, in the middle-level unmanned device group, there are 3 unmanned devices in total, and in the lowest-level unmanned device group, there are 2 unmanned devices in total. The single-equipment distribution route lengths corresponding to the highest-ranked unmanned equipment group, the middle-ranked unmanned equipment group, and the lowest-ranked unmanned equipment group are 10m, 15m, and 2.5m, respectively.
And S252, acquiring the total length of the target operation route, and calculating the length of the single-equipment standard route corresponding to each unmanned equipment group according to the total length of the target operation route and the operation grade of each unmanned equipment group.
Illustratively, when the total length of the target working route is 100m, there are 5 unmanned devices in the highest-level unmanned device group, 3 unmanned devices in the middle-level unmanned device group, and 2 unmanned devices in the lowest-level unmanned device group. If the operation speed of each unmanned device is equal according to the operation level of each unmanned device group, the single-device standard route length is 100 ÷ (5+3+2) ═ 10 m. If the ratio of the operating speeds of the highest, middle and lowest unmanned aerial vehicle groups is 2:2:1 according to the operating grades of the unmanned aerial vehicle groups, the standard single-equipment route lengths corresponding to the highest, middle and lowest unmanned aerial vehicle groups are (100 × 2/5) ÷ 5 ═ 8m, (100 × 2/5) ÷ 3 ≈ 13.3m and (100 × 1/5) ÷ 2 ═ 10m, respectively.
And S260, sequentially acquiring an unmanned equipment group as a target group according to the sequence of the operation levels from high to low.
In the embodiment of the invention, after the single-equipment distribution route length and the single-equipment standard route length are obtained through calculation, the single-equipment distribution route lengths of all unmanned equipment groups need to be adjusted according to the sequence from high to low of the operation levels.
S270, detecting whether the target road section grouping corresponding to the target grouping meets road section redistribution conditions or not according to the single equipment distribution route length, the single equipment standard route length and the operation grade of the target grouping.
In the embodiment of the invention, the shortest total operation time needs to be ensured, so that the length of the single-equipment distribution route of each unmanned equipment group is equal to or less different from the length of the single-equipment standard route. Therefore, when the length of the single device distribution route is greatly different from the length of the single device standard route, the road sections need to be redistributed to the road section groups, so that the length of the single device distribution route is adjusted to be close to the length of the single device standard route.
Accordingly, S270 may further include:
s271, judging whether the difference value between the standard route length of the single equipment of the target grouping and the distribution route length of the single equipment is larger than or equal to a first difference threshold value, if so, executing S280, otherwise, executing S272.
When the length of the single-device standard route of the target grouping is greater than the length of the single-device distribution route, and the difference obtained by subtracting the length of the single-device distribution route from the length of the single-device standard route is greater than or equal to the first difference threshold, that is, when the length of the single-device standard route of the target grouping is far greater than the length of the single-device distribution route, in order to ensure that the operation time length of each unmanned device grouping is less in difference, the length of the single-device distribution route of the target grouping needs to be supplemented to the length of the single-device standard route.
And S272, judging whether the target group is an unmanned equipment group of other work levels except the highest work level, if so, executing S273, otherwise, executing S290.
In the embodiment of the invention, the situation that the road section grouping corresponding to the highest-level unmanned equipment grouping meets the road section reallocation condition is different from the situation that other unmanned equipment groupings meet the road section reallocation condition. The highest-level unmanned device can perform the work on the same-level or lower-level road segment, but the lower-level unmanned device cannot perform the work on the higher-level road segment. Therefore, even if the single device distribution route length corresponding to the highest-level unmanned device group is much longer than the single device standard route length, the single device distribution route length corresponding to the highest-level unmanned device group cannot be adjusted. However, if the single-equipment distribution route length corresponding to the other unmanned equipment groups except the highest operation level is far longer than the single-equipment standard route length, the route length can be redistributed, and part of the operation sections are divided by the unmanned equipment groups of the high level.
And S273, judging whether the difference value between the single-equipment distribution route length of the target group and the single-equipment standard route length is greater than or equal to a second difference value threshold, if so, executing S280, otherwise, executing S290.
In the embodiment of the present invention, when the length of the single device distribution route of the target group is greater than the length of the single device standard route, and the difference obtained by subtracting the length of the single device standard route from the length of the single device distribution route is greater than or equal to the second difference threshold, that is, the length of the single device distribution route of the target group is greater than the length of the single device standard route, the operation section may be divided by the high-level group of the target group.
The value of the first difference threshold and the value of the second difference threshold are not limited in the embodiment of the invention, and the first difference threshold and the second difference threshold can be the same or different.
S280, at least one associated road section group matched with the target road section group is obtained, and road sections in the target road section group and the associated road section group are redistributed.
In the embodiment of the invention, when the road section reallocation condition is met, the associated road section grouping of the target road section grouping is obtained.
When the single-equipment standard route length of the target grouping is far higher than the single-equipment distribution route length, the road sections are required to be intercepted from the road section grouping of the lower level and added into the target road section grouping, and at least one road section grouping of the lower operation level is obtained as the related road section grouping.
Accordingly, when the difference between the single device standard route length of the target group and the single device assignment route length is greater than or equal to the first difference threshold, S280 may include:
and S281, acquiring a road section group which is lower than the target road section group by one operation level as an associated road section group, acquiring the intercepted road section from the associated road section group, and adding the intercepted road section into the target road section group.
The length of the intercepted road section is the product of the difference value of the length of the single-equipment standard route and the length of the single-equipment distribution route and the number of the unmanned equipment in the target grouping.
In the embodiment of the invention, in order to complement the single-equipment distribution route length of each unmanned equipment in the target grouping to the single-equipment standard route length, the road section grouping which is lower than the target road section grouping by one operation level is obtained as the associated road section grouping, the road section is intercepted in the associated road section grouping and added into the target road section grouping, and the road section length in the associated road section grouping is updated to the road section length obtained by subtracting the intercepted road section length.
For example, if there are 5 unmanned devices in the highest-level group, the total length of the highest-level section group route is 40m, and the length of the single-device standard route is 10m, the length of the single-device distribution route of each unmanned device is 40 ÷ 5 ═ 8m, and is smaller than the length of the single-device standard route, it is necessary that in the next-level section group at the highest level, the intercepted section is added to the section group at the highest level, and the length of the intercepted section is (10-8) × 5 ═ 10 m.
In the embodiment of the present invention, fig. 2b provides a schematic diagram of a cut-out road section, and as shown in fig. 2b, a portion indicated by an arrow is a cut-out road section portion. In the embodiment of the invention, the target road section in the target road section group closest to the starting point is obtained from the starting point of the target operation route, and the intercepted road section is obtained by intercepting the road section of the next level closest to the target road section by taking the target road section as the reference. And if the length of the next level road section closest to the target road section is less than the length of the road section to be intercepted, intercepting all the next level road sections, then sequentially acquiring next level road sections second closest to the target road section, intercepting the rest parts on the next level road sections, and so on until the length of the intercepted road sections meets the requirement. If the total length of each road section of the next level is less than the length of the road section to be intercepted, all the road sections of the next level are intercepted, and if the road sections of two levels are lower, the rest parts are intercepted on the road sections of the two levels.
And S282, respectively recalculating the single-equipment distribution route lengths of the unmanned equipment groups corresponding to the target group and the associated road section group according to the target road section group added with the intercepted road section and the associated road section group deleted after the intercepted road section.
And after the intercepted road sections are added into the target road sections in groups and deleted from the associated road sections in groups, respectively recalculating the length of the single-equipment distribution route.
And S283, according to the recalculated single-equipment distribution route length, the road sections in the target road section grouping and the associated road section grouping are redistributed.
In the embodiment of the invention, after the length of the single-equipment distribution route is adjusted, the road sections in the target road section grouping and the associated road section grouping are respectively redistributed to each unmanned equipment in the unmanned equipment grouping corresponding to the target road section grouping and the associated road section grouping.
When the target group is not the highest-level unmanned equipment group and the single-equipment assigned route length is much higher than the single-equipment standard route length, part of the operation section may be shared by the high-level unmanned equipment group, and therefore, all the section groups having the operation levels higher than the target section group are acquired as the associated section group.
Accordingly, when the target group is an unmanned device group of a job class other than the highest job class, and a difference between the single device assignment route length of the target group and the single device standard route length is greater than or equal to a second difference threshold, S280 may further include:
s2801, all link groups having a higher job level than the target link group are acquired as associated link groups.
In the embodiment of the present invention, if the single device assignment route length of the object group is much longer than the single device standard route length, a part of the work section may be divided by the high-rank group of the object group. Therefore, when the single device assignment route length of the target group is much longer than the single device standard route length, all the link groups having higher operation levels than the target link group are acquired as the associated link groups.
S2802, recalculating the single device distribution route length of the unmanned equipment group corresponding to the target group and the associated road section group according to the total length of each operation road section in the target road section group and the associated road section group, the number of each unmanned equipment in the unmanned equipment group corresponding to the target group and the associated road section group and the operation level of the unmanned equipment group corresponding to the target group and the associated road section group.
Illustratively, when the total length of the target work route is 100m, the total length of each work link in the link group of the highest work level is 50m, and there are 5 unmanned devices in the unmanned device group of the highest work level. The total length of each operation section in the section group of the medium operation level is 45m, and 3 unmanned devices in the unmanned device group of the medium level are shared. The total length of each operation section in the section group of the lowest operation level is 5m, and 2 unmanned devices in the unmanned device group of the lowest level are shared. The lengths of the single-equipment distribution routes corresponding to the unmanned equipment group of the highest job class, the unmanned equipment group of the middle class, and the unmanned equipment group of the lowest class are 10m, 15m, and 2.5m, respectively.
If the working speed of each unmanned device is determined to be equal according to the working grade, the single-device standard route length is 100 ÷ (5+3+2) ═ 10 m. It can be seen that the single device allocation route length 15m of the unmanned equipment group of the medium work level is far longer than the single device standard route length 10m, at this time, the total length of the work section of the highest work level and the work section of the medium work level is 50+45 ═ 95m, and the work section is executed by the 5 unmanned equipment of the highest work level and the 3 unmanned equipment of the medium work level together, at this time, the single device allocation route lengths of the unmanned equipment group of the highest work level and the medium work level are both 95 ÷ 8 ≈ 11.9 m.
S2803, according to the recalculated single equipment distribution route length, the road sections in the target road section grouping and the related road section grouping are redistributed.
And S290, judging whether the processing of grouping all the unmanned equipment is finished or not, if so, executing S2100, otherwise, returning to execute S260.
In the embodiment of the invention, after the lengths of the single equipment distribution routes grouped by all the unmanned equipment are adjusted, the operation section distribution of each unmanned equipment is finished.
And S2100, respectively forming a cooperative work route corresponding to each unmanned device according to the work sections distributed to each unmanned device.
According to the technical scheme of the embodiment, the target operation route to be operated is divided into a plurality of operation sections according to the operation levels, each operation section is allocated to the matched unmanned equipment according to the operation levels, the lengths of the single equipment allocation routes allocated to the unmanned equipment of each level are adjusted according to the sequence from high to low of the operation levels, and the cooperative operation route of each unmanned equipment is generated according to the operation section finally allocated to each unmanned equipment. The method and the device fill the gap of route planning when a plurality of unmanned devices collaboratively operate in the prior art, and realize operation route planning aiming at the attribute of each unmanned device when the plurality of unmanned devices collaboratively operate.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an apparatus for generating a collaborative work route according to a third embodiment of the present invention, where the apparatus may be implemented by software and/or hardware and is generally integrated in a computer device. The device includes: a target workroute dividing module 310, a worksegment assigning module 320, and a collaborative workroute generating module 330. Wherein:
a target operationroute dividing module 310, configured to obtain a target operation route to be operated, and divide the target operation route into operation sections of at least one operation level;
a worksection assignment module 320 for classifying a plurality of unmanned devices according to work grades and assigning each of the work sections to the plurality of unmanned devices;
a collaborative workroute generating module 330, configured to form, according to the work sections allocated to the respective unmanned devices, collaborative work routes respectively corresponding to the respective unmanned devices.
According to the technical scheme of the embodiment, the target operation route to be operated is divided into a plurality of operation sections according to the operation levels, each operation section is distributed to the matched unmanned equipment according to the operation levels, and the cooperative operation route of each unmanned equipment is generated according to the operation sections distributed to each unmanned equipment. The method and the device fill the gap of route planning when a plurality of unmanned devices collaboratively operate in the prior art, and realize operation route planning aiming at the attribute of each unmanned device when the plurality of unmanned devices collaboratively operate.
On the basis of the above embodiment, the operationsegment allocating module 320 includes:
the grouping unit is used for dividing each unmanned device and each road section into at least one unmanned device group and at least one road section group according to the operation grade;
and the road section allocation unit is used for allocating each road section group to the unmanned equipment group matched with the operation grade, and allocating each road section in each road section group to each unmanned equipment in the matched unmanned equipment group in a length sharing mode.
On the basis of the above embodiment, the apparatus further includes:
the route length obtaining module is used for obtaining the single equipment distribution route length corresponding to each unmanned equipment group and the single equipment standard route length corresponding to the target operation route;
the target grouping acquisition module is used for sequentially acquiring an unmanned equipment group as a target grouping according to the sequence of the operation grades from high to low;
the road section redistribution condition judgment module is used for detecting whether the target road section grouping corresponding to the target grouping meets the road section redistribution condition or not according to the single equipment distribution route length, the single equipment standard route length and the operation grade of the target grouping;
the road section redistribution module is used for acquiring at least one associated road section grouping matched with the target road section grouping if the target road section grouping is matched with the road section, and redistributing the target road section grouping and the road sections in the associated road section grouping;
and the operation return execution module is used for returning and executing the operation of sequentially acquiring one unmanned equipment group as a target group according to the sequence of the operation grades from high to low until the processing of all the unmanned equipment groups is completed.
On the basis of the above embodiment, the route length obtaining module includes:
the single-equipment distribution route length calculating unit is used for calculating the total length of each operation section in the section group matched with each unmanned equipment group respectively, and calculating the length of the single-equipment distribution route corresponding to each unmanned equipment group according to each total length and the number of the unmanned equipment in each unmanned equipment group;
and the single-equipment standard route length calculating unit is used for acquiring the total length of the target operation route, and calculating the single-equipment standard route length corresponding to each unmanned equipment group according to the total length of the target operation route and the operation grade of each unmanned equipment group.
On the basis of the above embodiment, the road segment reallocation condition determination module includes:
and the first road segment redistribution determining unit is used for determining that the target road segment grouping corresponding to the target grouping meets the road segment redistribution condition if the difference value between the single equipment standard route length of the target grouping and the single equipment distribution route length is greater than or equal to a first difference threshold value.
On the basis of the above embodiment, the segment reallocation module includes:
the road section intercepting unit is used for acquiring a road section group which is lower than the target road section group by one operation level as an associated road section group, acquiring an intercepted road section from the associated road section group and adding the intercepted road section into the target road section group;
the length of the intercepted road section is the product of the difference value of the length of the single-equipment standard route and the length of the single-equipment distribution route and the number of the unmanned equipment in the target grouping;
the first single-equipment distribution route length recalculation unit is used for recalculating the single-equipment distribution route lengths of the unmanned equipment groups corresponding to the target group and the associated road section group respectively according to the target road section group after the intercepted road section is added and the associated road section group after the intercepted road section is deleted;
and the first road section redistribution unit is used for redistributing road sections in the target road section grouping and the associated road section grouping according to the recalculated single equipment distribution route length.
On the basis of the above embodiment, the module for determining road segment reallocation conditions further includes:
and the second road segment reallocation determining unit is used for determining that the target road segment grouping corresponding to the target grouping meets the road segment reallocation condition if the target grouping is the unmanned equipment grouping of other operation levels except the highest operation level, and the difference value between the single equipment allocation route length of the target grouping and the single equipment standard route length is larger than or equal to a second difference value threshold value.
On the basis of the above embodiment, the segment reallocation module includes:
an associated link group acquisition unit configured to acquire all link groups having an operation level higher than that of the target link group as associated link groups;
a second single device distribution route length recalculation unit, configured to recalculate the single device distribution route length of the unmanned device group corresponding to the target group and the associated road segment group according to the total length of each operation road segment in the target road segment group and the associated road segment group, the number of each unmanned device in the unmanned device group corresponding to the target group and the associated road segment group, and the operation level of the unmanned device group corresponding to the target group and the associated road segment group;
and the second road section redistribution unit is used for redistributing road sections in the target road section grouping and the associated road section grouping according to the recalculated single equipment distribution route length.
On the basis of the above embodiment, the target workroute division module 310 includes:
the target unmanned equipment selection unit is used for acquiring area parameters of an area to be operated and selecting target unmanned equipment from the unmanned equipment;
and the target operation route acquiring unit is used for planning a route of the area to be operated according to the area parameters of the area to be operated by taking the position of the target unmanned equipment as a starting point to acquire a target operation route to be operated.
The generation device of the cooperative operation route provided by the embodiment of the invention can execute the generation method of the cooperative operation route provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention, and as shown in fig. 4, the unmanned aerial vehicle includes aprocessor 70, amemory 71, aninput device 72, and anoutput device 73; the number ofprocessors 70 in the computer device may be one or more, and oneprocessor 70 is taken as an example in fig. 4; theprocessor 70, thememory 71, theinput device 72 and theoutput device 73 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 4.
Thememory 71 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as modules corresponding to the generation method of the collaborative work route in the embodiment of the present invention (for example, the target workroute division module 310, the worksegment assignment module 320, and the collaborative workroute generation module 330 in the generation apparatus of the collaborative work route). Theprocessor 70 executes various functional applications and data processing of the computer device by running software programs, instructions, and modules stored in thememory 71, that is, implements the above-described method for generating the cooperative work route. The method comprises the following steps:
acquiring a target operation route to be operated, and dividing the target operation route into operation sections of at least one operation level;
dividing a plurality of unmanned devices according to work grades, and distributing each work section to the plurality of unmanned devices;
and respectively forming a coordinated operation route corresponding to each unmanned device according to the operation road sections distributed to each unmanned device.
Thememory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, thememory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, thememory 71 may further include memory located remotely from theprocessor 70, which may be connected to a computer device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Theinput device 72 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the computer apparatus. Theoutput device 73 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for generating a collaborative work route, where the method includes:
acquiring a target operation route to be operated, and dividing the target operation route into operation sections of at least one operation level;
dividing a plurality of unmanned devices according to work grades, and distributing each work section to the plurality of unmanned devices;
and respectively forming a coordinated operation route corresponding to each unmanned device according to the operation road sections distributed to each unmanned device.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for generating a collaborative work route provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the apparatus for generating a collaborative work route, each unit and each module included in the apparatus are only divided according to functional logic, but are not limited to the above division as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A method for generating a collaborative work route, comprising:
acquiring a target operation route to be operated, and dividing the target operation route into operation sections of at least one operation level;
dividing a plurality of unmanned devices according to work grades, and distributing each work section to the plurality of unmanned devices;
and respectively forming a coordinated operation route corresponding to each unmanned device according to the operation road sections distributed to each unmanned device.
2. The method of claim 1, wherein dividing a plurality of unmanned aerial devices according to job classes and assigning each of the job segments to a plurality of the unmanned aerial devices comprises:
dividing each unmanned device and each road section into at least one unmanned device group and at least one road section group respectively according to the operation grade;
and distributing each section group to the unmanned equipment group matched with the operation grade, and distributing each section in each section group to each unmanned equipment in the matched unmanned equipment group in a length sharing mode.
3. The method of claim 2, further comprising, after assigning the segments in each segment grouping to the drones in the matched drone grouping:
acquiring the length of a single equipment distribution route corresponding to each unmanned equipment group and the length of a single equipment standard route corresponding to a target operation route;
sequentially acquiring an unmanned equipment group as a target group according to the sequence of the operation grades from high to low;
detecting whether the target road section grouping corresponding to the target grouping meets road section redistribution conditions or not according to the single equipment distribution route length, the single equipment standard route length and the operation grade of the target grouping;
if yes, acquiring at least one associated road section group matched with the target road section group, and reallocating the road sections in the target road section group and the associated road section group;
and returning to execute the operation of sequentially acquiring one unmanned equipment group as a target group according to the sequence from high to low of the job level until the processing of all the unmanned equipment groups is completed.
4. The method of claim 3, wherein obtaining a single device assigned route length corresponding to each unmanned device group and a single device standard route length corresponding to a target work route comprises:
respectively calculating the total length of each operation road section in the road section group matched with each unmanned equipment group, and calculating the length of the single equipment distribution route corresponding to each unmanned equipment group according to each total length and the number of the unmanned equipment in each unmanned equipment group;
and acquiring the total length of the target operation route, and calculating the length of the single-equipment standard route corresponding to each unmanned equipment group according to the total length of the target operation route and the operation grade of each unmanned equipment group.
5. The method of claim 4, wherein detecting whether the target road segment grouping corresponding to the target grouping meets the road segment re-allocation condition according to the single equipment allocation route length, the single equipment standard route length and the operation level of the target grouping comprises:
and if the difference value between the single-equipment standard route length of the target grouping and the single-equipment distribution route length is greater than or equal to a first difference threshold value, determining that the target road section grouping corresponding to the target grouping meets the road section redistribution condition.
6. The method of claim 5, wherein obtaining at least one associated segment group that matches the target segment group and reassigning segments in the target segment group and the associated segment group comprises:
acquiring a road section group which is lower than the target road section group by one operation level as an associated road section group, acquiring an intercepted road section from the associated road section group, and adding the intercepted road section into the target road section group;
the length of the intercepted road section is the product of the difference value of the length of the single-equipment standard route and the length of the single-equipment distribution route and the number of the unmanned equipment in the target grouping;
respectively recalculating the lengths of the single equipment distribution routes of the unmanned equipment groups corresponding to the target group and the associated road section group according to the target road section group after the intercepted road section is added and the associated road section group after the intercepted road section is deleted;
the segments in the target segment grouping and the associated segment grouping are reassigned based on the recalculated single device assignment route length.
7. The method of claim 4, wherein detecting whether the target road segment grouping corresponding to the target grouping meets a road segment re-allocation condition according to the single equipment allocation route length, the single equipment standard route length and the operation level of the target grouping further comprises:
and if the target grouping is the unmanned equipment grouping of other operation levels except the highest operation level, and the difference between the single equipment distribution route length and the single equipment standard route length of the target grouping is greater than or equal to a second difference threshold value, determining that the target road section grouping corresponding to the target grouping meets the road section reallocation condition.
8. The method of claim 7, wherein obtaining at least one associated segment group that matches the target segment group and reassigning segments in the target segment group and the associated segment group comprises:
acquiring all road section groups with the operation levels higher than that of the target road section group as related road section groups;
recalculating the length of the single-equipment distribution route of the unmanned equipment group corresponding to the target group and the associated road section group according to the total length of each operation road section in the target road section group and the associated road section group, the number of each unmanned equipment in the unmanned equipment group corresponding to the target group and the associated road section group and the operation grade of the unmanned equipment group corresponding to the target group and the associated road section group;
the segments in the target segment grouping and the associated segment grouping are reassigned based on the recalculated single device assignment route length.
9. The method of claim 1, wherein the obtaining a target work route to be worked comprises:
acquiring area parameters of an area to be operated, and selecting target unmanned equipment from the unmanned equipment;
and planning a route of the area to be operated according to the area parameters of the area to be operated by taking the position of the target unmanned equipment as a starting point to obtain a target operation route to be operated.
10. A collaborative work route generation device, comprising:
the system comprises a target operation route dividing module, a target operation route dividing module and a target operation route dividing module, wherein the target operation route dividing module is used for acquiring a target operation route to be operated and dividing the target operation route into operation sections of at least one operation grade;
the operation section distribution module is used for dividing a plurality of unmanned equipment according to operation grades and distributing each operation section to the plurality of unmanned equipment;
and the collaborative operation route generation module is used for respectively forming collaborative operation routes corresponding to the unmanned equipment according to the operation sections distributed to the unmanned equipment.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of generating a collaborative work route according to any one of claims 1-9 when executing the program.
12. A storage medium containing computer-executable instructions for performing the method of generating a collaborative work route according to any one of claims 1-9 when executed by a computer processor.
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