US 11,853,080 B2
Spray operation method and device for unmanned aerial vehicle
Jinsong Li, Shenzhen (CN); and Guang Yan, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Jun. 2, 2021, as Appl. No. 17/337,407.
Application 17/337,407 is a continuation of application No. PCT/CN2018/119241, filed on Dec. 4, 2018.
Prior Publication US 2021/0286378 A1, Sep. 16, 2021
Int. Cl. G05D 1/04 (2006.01); G05D 1/10 (2006.01); B64C 39/02 (2023.01); B64D 1/18 (2006.01); G06T 19/00 (2011.01); G06V 20/10 (2022.01); A01C 7/08 (2006.01); B64U 101/00 (2023.01)
CPC G05D 1/042 (2013.01) [B64C 39/024 (2013.01); B64D 1/18 (2013.01); G05D 1/101 (2013.01); G06T 19/003 (2013.01); G06V 20/188 (2022.01); A01C 7/085 (2013.01); B64U 2101/00 (2023.01); G05D 2201/0201 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30188 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A spray operation method comprising:
obtaining two-dimensional position information of a target area and a three-dimensional model of the target area; and
obtaining an operation route according to the two-dimensional position information and the three-dimensional model, the operation route including a plurality of waypoints, and at least one of the waypoints being associated with altitude information;
wherein obtaining the operation route includes:
determining a planned route according to the two-dimensional position information; and
determining one or more key points on the planned route according to the three-dimensional model to obtain the operation route, each of the one or more key points being associated with altitude information, and the waypoints including the one or more key points; and
wherein determining the one or more key points on the planned route includes inputting the planned route and the three-dimensional model into a neural network model to obtain the one or more key points on the planned route.