CN-121979200-A - Intelligent operation method and device for operation equipment, operation equipment and storage medium

CN121979200ACN 121979200 ACN121979200 ACN 121979200ACN-121979200-A

Abstract

The application discloses an intelligent operation method and device for operation equipment, the operation equipment and a storage medium. The method comprises the steps of controlling an unmanned aerial vehicle to perform flight scanning on a target operation area before operation of operation equipment to acquire environment data of the target operation area, generating an operation map with geographic coordinates based on the environment data, planning an operation path of the operation equipment on the operation map, wherein the operation map contains obstacle information identified and marked based on the environment data, planning the operation path to avoid the obstacle, issuing an operation task containing the operation path to the operation equipment, and controlling the operation equipment to run along the operation path and execute the green cutting operation based on high-precision positioning information of the operation equipment.

Inventors

XIE JIAYOU
LIU GUANGLEI
XIONG YI
ZHOU LEI
XU JIALONG

Assignees

湖南中联重科应急装备有限公司

Dates

Publication Date: 20260505
Application Date: 20251224

Claims (12)

1. An intelligent operation method of operation equipment, which is characterized by comprising the following steps: Before operation of operation equipment, controlling an unmanned aerial vehicle to perform flight scanning on a target operation area so as to acquire environmental data of the target operation area; generating a working map with geographic coordinates based on the environment data, and planning a working path of the working equipment on the working map, wherein the working map contains obstacle information identified and marked based on the environment data, and the working path is planned to avoid the obstacle; issuing a job task including the job path to the job device; The working equipment is controlled to travel along the working path and execute the green cutting operation based on the high-precision positioning information of the working equipment.
2. The intelligent working method of the working equipment according to claim 1, wherein the generating the working map with the geographic coordinates based on the environmental data comprises: processing the environmental data to generate an orthophoto map and a digital surface model of the target operation area; and fusing the orthographic image with the digital surface model to generate the operation map with the geographic coordinates, wherein the operation map at least comprises a base map layer and an obstacle map layer.
3. The intelligent working method of the working equipment according to claim 2, wherein the generating the working map with the geographic coordinates based on the environmental data further comprises: Automatically identifying and framing an obstacle in the orthographic image by adopting a target detection network based on deep learning; For each obstacle, corresponding semantic attributes are assigned to the obstacle according to the height information of the obstacle in the digital surface model and the image features in the orthographic image.
4. The working device intelligent working method according to claim 1, wherein the step of planning the working path of the working device on the working map comprises the steps of: According to the framing of a user on a working area, automatically generating an initial working path for covering the working area based on a preset covering mode; and calling a path planning algorithm to enable the initial operation path to automatically avoid all obstacles in the operation map, and keeping a preset safety distance.
5. The intelligent working method of a working device according to claim 4, wherein the working path of the working device is planned on the working map, further comprising: Providing a graphical man-machine interaction interface to display the operation map and the initial operation path; and responding to the operation of a user on the interactive interface, and carrying out drag fine adjustment on the node of the initial job path to form the final job path.
6. The working equipment intelligent working method according to claim 1, wherein the controlling the working equipment to travel along the working path and perform the green cutting operation based on its own high-precision positioning information includes: the operation equipment determines the real-time pose of the operation equipment in a geographic coordinate system according to the high-precision positioning information of the operation equipment; and comparing the real-time pose with the working path, and generating a motion control instruction for the working equipment based on a comparison result so as to enable the working equipment to run along the working path.
7. The intelligent working method of a working device according to claim 1, characterized in that the method further comprises: monitoring the front environment of the working equipment in real time in the process that the working equipment runs along the working path and performs the green cutting operation; In the event that the presence of a sudden obstacle in the front environment that is not marked in the work path is monitored, the work equipment is controlled to perform an emergency shutdown and an alarm is sent.
8. The intelligent working method of the working equipment according to claim 1, wherein the working equipment is a green cutting vehicle.
9. An intelligent working device for a working apparatus, the device comprising: a memory configured to store instructions; A processor configured to invoke the instructions from the memory and when executing the instructions is capable of implementing the work device intelligent work method according to any of claims 1 to 8.
10. A working device, characterized in that the working device comprises: The vehicle body is provided with an executing mechanism for executing the green cutting operation; The high-precision positioning system is used for acquiring real-time pose information of the operation equipment; a controller in communication with the high precision positioning system configured to: Receiving a job path from an external mission planning terminal, and And generating a motion control instruction for the working equipment according to the comparison result of the real-time pose information and the working path so as to enable the working equipment to run along the working path.
11. The work device of claim 10, wherein the work device is a green cutting vehicle.
12. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to be configured to perform the work device intelligent work method of any of claims 1 to 8.

Description

Intelligent operation method and device for operation equipment, operation equipment and storage medium Technical Field The application relates to the technical field of intelligent robots, in particular to an intelligent operation method and device for operation equipment, the operation equipment and a storage medium. Background In the prior art, intelligent operation equipment for executing vegetation cutting, such as intelligent green cutting vehicles or mowing robots, generally adopt an operation mode of vehicle-mounted real-time environment sensing and autonomous decision making. The typical technical scheme is that a camera, a laser radar and other sensors are integrated on an operation equipment body, environmental information of an operation site is acquired in real time through the sensors, and an onboard immediate positioning and map construction or target detection algorithm is utilized to dynamically identify obstacles (such as stones, tree piles, pits and the like) in front of advancing, and meanwhile, local path planning and obstacle avoidance decision is carried out to control a vehicle to execute vegetation cutting operation while avoiding the obstacles. However, when the working equipment performs a cutting operation, a cutter rotating at a high speed generates a large amount of scattered grass scraps, dust and plant debris. These contaminants can adhere or diffuse directly to the detection window of the vehicle-mounted sensor, such as the camera lens, lidar transmit/receive window, severely interfering with the proper operation of the sensor. This results in the core sensing sensor performance being drastically reduced or even disabled by contamination from its own work at the moment when the work task most requires accurate environmental sensing. As a direct consequence, the work equipment is very prone to collision against hard obstacles due to "blindness" causing damage to the tool or the car body or falling into unidentified depressions causing safety accidents. To avoid collisions, the system often has to limit the travel speed to an extremely low level, severely limiting the work efficiency. Therefore, how to fundamentally solve the problem of perceiving failure of the operation equipment caused by self-pollution of the operation, thereby improving the operation safety and efficiency becomes a technical problem to be solved in the field. Disclosure of Invention The embodiment of the application aims to provide an intelligent operation method and device for operation equipment, a green cutting vehicle and a storage medium, which are used for solving the technical problems of poor operation safety, easy damage to equipment and low operation efficiency caused by the failure of the real-time environment sensing capability of the operation equipment due to the fact that grass scraps and dust generated in the operation process pollute a vehicle-mounted sensing sensor in the prior art. To achieve the above object, a first aspect of the present application provides an intelligent operation method for an operation device, including: Before operation of operation equipment, controlling the unmanned aerial vehicle to perform flight scanning on a target operation area so as to acquire environmental data of the target operation area; Generating a working map with geographic coordinates based on the environmental data, and planning a working path of the working equipment on the working map, wherein the working map contains barrier information identified and marked based on the environmental data, and the working path is planned to avoid the barrier; Issuing a job task including a job path to a job device; The control work equipment travels along the work path and performs the green cutting work based on its own high-precision positioning information. The method comprises the steps of processing environment data to generate an orthographic image and a digital surface model of a target operation area, and fusing the orthographic image and the digital surface model to generate an operation map with geographic coordinates, wherein the operation map at least comprises a base map layer and an obstacle map layer. The method comprises the steps of generating a working map with geographic coordinates based on environment data, automatically identifying and framing and selecting obstacles in an orthographic image by adopting a target detection network based on deep learning, and giving corresponding semantic attributes to each obstacle according to the height information of the obstacle in a digital surface model and the image characteristics in the orthographic image. The method comprises the steps of automatically generating an initial operation path covering an operation area based on a preset coverage mode according to the frame definition of the operation area by a user, and calling a path planning algorithm to enable the initial operation path to automatically avoid all obstacles in the operation map