WO2022226720A1

WO2022226720A1 - Path planning method, path planning device, and medium

Info

Publication number: WO2022226720A1
Application number: PCT/CN2021/089876
Authority: WO
Inventors: 邹亭
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2022-11-03
Also published as: CN116868142A

Abstract

A path planning method, a path planning device, and a medium, for use in planning a target path of a mobile platform. The method comprises: segmenting a concave operation region of a mobile platform into a plurality of convex sub-regions (S402); determining a reference path of the mobile platform corresponding to each convex sub-region, the direction of the reference path being parallel to the direction of the segmentation line of a segmentation operation region (S404); and connecting the reference path corresponding to each convex sub-region so as to generate a target path of the mobile platform when operating in the operation region (S406).

Description

Path planning method, path planning device and medium

technical field

The present application relates to the field of imaging technologies, and in particular, to a path planning method, a path planning device, and a medium.

Background technique

Unmanned aerial vehicle is referred to as "UAV". It is an unmanned aircraft operated by radio remote control equipment and self-provided program control device. It can be used for agricultural, forestry and plant protection operations, exploration operations, etc., with the advantages of safety, efficiency and resource saving. .

The automatic operation technology of UAVs is not perfect, and it can only be used for simple terrains. For operation areas with complex terrains, such as concave irregular operation areas, obstacles in the operation area, etc., the scope of application of UAVs is limited.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present application provide a path planning method, a path planning device, and a medium, so as to improve the scope of application of the UAV for automatic operation.

In a first aspect, an embodiment of the present application provides a path planning method for planning a target path of a movable platform. The method includes: cutting a concave working area of the movable platform into a plurality of convex sub-regions; determining each The reference path of the movable platform corresponding to the convex sub-area, the direction of the reference path is parallel to the direction of the cutting line in the cutting operation area; connect the reference paths corresponding to each convex sub-area to generate the movement of the movable platform in the operation area. Target path.

In a second aspect, an embodiment of the present application provides a path planning method for planning a target path of a movable platform. The method includes: determining a plurality of convex sub-regions and respective sub-target paths of the plurality of convex sub-regions ; Connect the respective sub-goal paths of each convex sub-region to generate the target path, so that the target path is the shortest.

In a third aspect, an embodiment of the present application provides a path planning apparatus for planning a target path of a movable platform, the apparatus comprising: one or more processors; and a computer-readable storage medium for storing one or more The computer program, when the computer program is executed by the processor, realizes: cutting the concave working area of the movable platform into a plurality of convex sub-regions; determining the reference path of the movable platform corresponding to each convex sub-region, and the reference path of the The direction is parallel to the direction of the cutting line of the cutting operation area; the reference path corresponding to each convex sub-area is connected to generate the target path when the movable platform operates in the operation area.

In a fourth aspect, an embodiment of the present application provides a path planning apparatus for planning a target path of a movable platform, the apparatus comprising: one or more processors; and a computer-readable storage medium for storing one or more A computer program, when executed by a processor, realizes: determining a plurality of convex sub-regions and respective sub-goal paths of the plurality of convex sub-regions; connecting the respective sub-goal paths of each convex sub-region to generate a target path so that the target path is the shortest.

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, which stores executable instructions, and when the executable instructions are executed by one or more processors, can cause one or more processors to execute the above method.

In a sixth aspect, an embodiment of the present application provides a computer program, including executable instructions, which, when executed, implement the above method.

In the embodiment of the present application, by dividing the concave operation area into a plurality of convex sub-areas, the reference path corresponding to each sub-area is parallel to the direction of the cutting line. On the one hand, the consistency of the target path in the overall direction can be improved. It helps to improve the stability of the UAV operation, and on the other hand, it can make the operation of the movable platform at the boundary of two adjacent sub-areas more uniform. In addition, through the above-mentioned division of the work area, the flight path planning of complex terrain can be handled, and the calculation amount of the flight path planning can be reduced.

In the embodiment of the present application, the operation effect of the drone can be effectively improved. Taking the pesticide spraying by the drone as an example, the drones move in the same direction and spray the pesticide on the left and right sides of the cutting line, and the pesticide spraying is more uniform. , It is not easy to have problems such as over-spraying and missing spraying.

It should be understood that different aspects of the present application may be understood individually, collectively or in combination with each other. The various aspects of the application described herein may be applicable to any particular application set forth below or to any other type of movable object. Any description herein of an aircraft, such as an unmanned aerial vehicle, is applicable to and for any movable object, such as any vehicle. Additionally, the systems, devices, and methods disclosed herein in the context of aerial motion (eg, flight) may also be applicable in the context of other types of motion, such as movement on the ground or on water, underwater motion, or in space sports.

Advantages of additional aspects of the present application will be set forth in part in the following description, in part will be apparent from the following description, or learned by practice of the present application.

Description of drawings

The above and other objects, features and advantages of embodiments of the present application will become more readily understood from the following detailed description with reference to the accompanying drawings. In the accompanying drawings, various embodiments of the present application will be illustrated by way of example and not limitation, wherein:

1 is an application scenario of a path planning method, a path planning device, and a medium provided by an embodiment of the present application;

2 is a schematic diagram of a planned path provided by the prior art;

3 is an application scenario of a path planning method, a path planning device, and a medium provided by another embodiment of the present application;

4 is a schematic flowchart of a path planning method provided by an embodiment of the present application;

5 is a schematic diagram of a working area provided by an embodiment of the present application;

6 is a schematic diagram of a cutting line provided by an embodiment of the present application;

7 is a schematic diagram of a convex sub-region provided by an embodiment of the present application;

8 is a schematic diagram of a cutting line provided by another embodiment of the present application;

FIG. 9 is a schematic diagram of a reference path provided by an embodiment of the present application;

10 is a schematic diagram of a sub-target path for a convex sub-region in FIG. 9;

11 is a schematic diagram of a target path provided by an embodiment of the present application;

12 is a schematic diagram of a target path provided by another embodiment of the present application;

Fig. 13 is the schematic diagram of the connection path in Fig. 12;

14 is a schematic flowchart of a path planning method provided by another embodiment of the present application;

15 is a schematic diagram of respective ports of image sub-regions provided by an embodiment of the present application;

FIG. 16 is a flowchart of route planning performed by the route planning system provided by the embodiment of the present application;

FIG. 17 is a schematic structural diagram of a path planning apparatus provided by an embodiment of the present application;

FIG. 18 is a schematic structural diagram of a path planning apparatus provided by another embodiment of the present application.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application.

Taking the operation scene of agricultural drones as an example to illustrate, the operation scene of agricultural drones is relatively complex, and a large part of the problem is that the operation area is naturally formed, and the shapes are mostly irregular geometric shapes. . For example, most of the farmland in the hilly areas of southern and western mainland China is divided into special geometric areas by small hillsides, ponds, and villages. For example, a geometrical area with a concave outer contour, or a geometrical area containing obstacles in its interior, here we collectively refer to the above two geometrical areas as a concave operating area. Traditional path planning can better solve the scenarios of convex work areas. For concave work areas, the planned paths often go beyond the work area, which brings security risks. Efficiency is also greatly reduced.

For example, the UAV route planning technology in the related art can involve applications in agriculture and surveying and mapping. In agricultural applications, the concave operation area still has the following defects: for example, when switching areas, the route will still exceed the delimited operation area. In addition, the route was not optimized from the overall mission performance efficiency.

In surveying and mapping, since the plane of the surveying and mapping scene is relatively high relative to the work area, the concave part of the work area is smaller, and its influence on the work efficiency and safety is low. However, for large concave parts, some current route planning tasks cannot be performed, and the user needs to manually re-divide the operation area into multiple simple sub-areas. In this scenario, the automation of the entire operation process is low. There is an urgent need for a solution that can be used for path planning in concave areas and takes into account operational efficiency.

Taking the automatic operation scene of the unmanned aerial vehicle as an example, in the embodiment of the present application, after the user determines the operation area, the operation area is divided by the cutting line, and the target path in each convex sub-area obtained by the segmentation is planned based on the direction of the cutting line, The UAV can automatically plan the target path of the operation area, and there is no intersection between the target path and the forbidden area in the operation area, and there is no intersection between the target path and the area outside the operation area. In addition, since the target path of each convex sub-region is planned based on the direction of the cutting line, it can effectively improve the consistency of the target path in the overall direction, help improve the stability of the UAV operation, and make the The operation of the drone at the border of two adjacent sub-regions is more uniform. Taking the pesticide spraying by drones as an example, the drones move in the same direction and spray pesticides on the left and right sides of the cutting line. The embodiments of the present application help to improve the operation accuracy and shorten the length of the target path.

FIG. 1 is an application scenario of a path planning method, a path planning device, and a medium provided by an embodiment of the present application.

As shown in FIG. 1 , the UAV flies in a certain flight direction, and can fly into the operation area 100 in the certain flight direction or a preset flight direction to perform operations. The work area 100 may include a no-pass area, such as an obstacle area 103 . For example, the work area 100 may be divided based on the certain flight direction to obtain a plurality of convex sub-areas 101 . Specifically, the work area 100 may be divided based on the cutting line 102 parallel to the certain flying direction, so as to obtain a plurality of convex sub-areas 101 . In this way, a complex work area 100, such as a work area 100 including a concave area and/or obstacles, can be divided into a plurality of convex sub-areas 101, so as to avoid the planned target path (as shown by the dotted line in the work area 100) passing through the work Outside the area, causing potential flight risks or wasting operation materials, etc. For example, the sub-target path 1011 of each convex sub-region can be determined based on the cutting line 102, and then the sub-target path 1011 of each convex sub-region can be connected through the connection path 104 to obtain the target path of the working region.

It should be noted that the above scenarios are only exemplary scenarios, and may also be operational scenarios for geological exploration, water spraying, etc., which should not be construed as limitations to the present application.

FIG. 2 is a schematic diagram of a planned route provided by the prior art.

As shown in Figure 2, the vertical line is the planned target path for the concave working area. The planned path does not consider the geometry of the working area, and the planned path may pass through the non-working area. On the one hand, crossing the non-operating area has great safety risks; on the other hand, frequently crossing the non-operating area reduces the efficiency of task execution.

It can be seen from Figure 2 that there is an overlapping area between the area where the vertical line is located and the area outside the concave working area. Taking the pesticide spraying operation by drones as an example, the target path shown in Figure 2 will cause the above-mentioned overlapping area to be sprayed with pesticides, causing the overlapping area to be polluted. It will lead to pollution of houses, vehicles or facilities, etc., and lead to the waste of raw materials for drone operation, and the operation efficiency is low. This brings great inconvenience to the promotion of automatic spraying operations by drones.

The path planning method, the path planning device and the medium provided by the embodiments of the present application, for the concave operation area, the concave operation area is divided into at least two convex sub-areas by at least one cutting line, which effectively solves the problem of complex operation area, It adapts to scenarios such as complex borders of actual farmland and large obstacles in the middle of the area. At the same time, when there are multiple cutting lines, the multiple cutting lines are parallel to each other, and the sub-target paths obtained by planning at least two convex sub-regions based on the cutting lines help improve the consistency of the overall direction of the target paths It is helpful to improve the stability of UAV operation. In addition, the embodiment of the present application not only plans a path, but also solves the problem of the optimal path through a search method, which improves the efficiency of task execution and saves the use of resources. For example, it has been verified that the search algorithm provided by the embodiment of the present application has a search efficiency that is less than 1/10 of the global search, which effectively reduces the dependence of path planning on high computing resources. At the same time, by adding heuristic obstacle avoidance, the scene where the target path or the connection path between multiple convex sub-regions crosses the outer contour of the work area can be effectively avoided.

In order to facilitate the understanding of the technical solutions of the present application, an exemplary description is given below with reference to FIGS. 3 to 20 .

FIG. 3 is an application scenario of a path planning method, a path planning apparatus, and a medium provided by another embodiment of the present application. As shown in FIG. 3 , the working device 14 mounted on the movable platform 10 will be described as an example.

The movable platform 10 in FIG. 3 includes a main body 11 , a carrier 13 and a working device 14 . Although the movable platform 10 is described as an aircraft, such description is not limiting, and any type of movable platform previously described is applicable (eg, an unmanned aerial vehicle). In some embodiments, the working device 14 may be located directly on the movable platform 10 without the need for the carrier 13 . The movable platform 10 may include a power mechanism 15 , a sensing system 12 . In addition, the mobile platform 10 may also include a communication system.

The powertrain 15 may include one or more rotating bodies, propellers, blades, engines, motors, wheels, bearings, magnets, nozzles. For example, the rotating body of the powertrain may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. The movable platform may have one or two, two or more, three or more, or four or more power mechanisms. All powertrains can be of the same type. Alternatively, one or more of the power mechanisms may be of a different type. The power mechanism 15 may be mounted on the movable platform by suitable means, such as by support elements (eg drive shafts). The power mechanism 15 may be installed in any suitable location on the movable platform 10, such as the top, the bottom, the front, the rear, the side, or any combination thereof.

In some embodiments, the power mechanism 15 enables the movable platform 10 to take off vertically from a surface, or to land vertically on a surface, without any horizontal movement of the movable platform 10 (eg, without taxiing on a runway). Optionally, the power mechanism 15 may allow the movable platform 10 to preset a position in the air and/or to rotate the steering wheel. One or more of the power mechanisms 100 may be controlled independently of the other power mechanisms. Alternatively, one or more power mechanisms 100 may be controlled simultaneously. For example, the movable platform 10 may have a plurality of horizontal rotation bodies to control the lifting and/or pushing of the movable platform 10. The horizontally oriented rotator can be actuated to provide the movable platform 10 with vertical take-off, vertical landing, and hovering capabilities. In some embodiments, one or more of the horizontal rotating bodies may rotate clockwise, while the other one or more of the horizontal rotating bodies may rotate counterclockwise. For example, there are the same number of rotating bodies that rotate clockwise as there are counter-clockwise rotating bodies. The rate of rotation of each horizontal rotating body can be varied independently to enable the lifting and/or pushing operations caused by each rotating body to adjust the spatial orientation, velocity and/or acceleration of the movable platform 10 (eg, relative to up to rotation and translation in three degrees of freedom).

Sensing system 12 may include one or more sensors to sense surrounding obstacles, spatial orientation, velocity, and/or acceleration (eg, rotation and translation with respect to up to three degrees of freedom) of movable platform 10 . The one or more sensors include any of the sensors described above, including but not limited to ranging sensors, GPS sensors, motion sensors, inertial sensors, or image sensors. Sensing data provided by the sensing system 12 may be used to control the spatial orientation, velocity and/or acceleration of the movable platform 10 . Optionally, the sensing system 12 may be used for data on the environment of the movable platform 10, such as climatic conditions, surrounding obstacle distances, locations of geographic features, locations of man-made structures, and the like.

The carrier 13 may be various supporting structures, including but not limited to: fixed brackets, detachable brackets, and adjustable posture structures, etc., for setting the working device 14 on the main body 11 . For example, the carrier 13 may be a pan/tilt, and the operation device 14 includes at least one of a pesticide spraying device, a surveying and mapping device, a surveying device, a sprinkler device, a fire extinguishing device, a photographing device or an aiming device. For example, the head allows the nozzle of the spray device to be displaced relative to the body 11, or rotated along one or more axes, such as the carrier 13 allowing the nozzle to follow one or more of the pitch, yaw and roll axes Combined translational motion of an axis. As another example, the carrier 13 may allow the nozzle to rotate about one or more of a pitch axis, a yaw axis, and a roll axis. There may be a linkage conversion relationship between the carrier 13 and the main body 11 . For example, the first movement (eg, movement or rotation) of the main body 11 can be converted into the second movement of the carrier 13 . vice versa.

The communication system can realize the communication between the movable platform 10 and the control terminal 20 having the communication system through the wireless signal 30 sent and received by the antenna 22 , and the antenna 22 is arranged on the main body 21 . A communication system may include any number of transmitters, receivers, and/or transceivers for wireless communication. Communication can be one-way communication, so that data can be sent from one direction. For example, one-way communication may include that only the mobile platform 10 transmits data to the control terminal 20, or vice versa. One or more transmitters of the communication system may transmit data to one or more receivers of the communication system, and vice versa. Alternatively, the communication may be two-way communication, so that data can be transferred between the movable platform 10 and the control terminal 20 in both directions. Two-way communication includes that one or more transmitters of the communication system can send data to one or more receivers of the communication system, and vice versa.

In some embodiments, the control terminal 20 may provide control instructions to one or more of the movable platform 10 , the carrier 13 and the working device 14 , and provide control instructions from the movable platform 10 , the carrier 13 and the working device 14 . Information (eg, position and/or motion information of obstacles, movable platform 10 , carrier 13 or working device 14 , load sensing data such as image data captured by cameras) is received in one or more of these. In some embodiments, the control data of the control terminal 20 may include instructions regarding position, movement, braking, or control of the movable platform 10 , the carrier 13 and/or the working device 14 . For example, the control data may cause a change in the position and/or orientation of the movable platform 10 (eg, by controlling the power mechanism 15), or cause movement of the carrier 13 relative to the movable platform 10 (eg, by controlling the carrier 13). Control data from the control terminal 20 may result in load control, such as controlling the operation of the spraying device (change nozzle angle, flow rate, etc.). Such as controlling the operation of a camera or other image capture device (capturing still or moving images, zooming, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing viewing angle or viewing angle) field). In some embodiments, communications between movable platform 10, carrier 13, and/or working device 14 may include information from one or more sensors (eg, distance sensor 12 or an image sensor of working device 14). Communication may include sensory information transmitted from one or more different types of sensors, such as GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. The sensing information is about the position (eg, orientation, position), motion, or acceleration of the movable platform 10 , the carrier 13 and/or the working device 14 . The sensory information transmitted from the work equipment 14 includes data captured by the work equipment 14 or the state of the work equipment 14 . The control data transmitted by the control terminal 20 may be used to control the state of one or more of the movable platform 10 , the carrier 13 or the working device 14 . Optionally, one or more of the carrier 13 and the working device 14 may include a communication module for communicating with the control terminal 20 so that the control terminal 20 can communicate individually or control the movable platform 10, the carrier 13 and the working device 14. The control terminal 20 may be a remote controller of the movable platform 10 , or may be an intelligent electronic device such as a mobile phone, an iPad, a wearable electronic device, etc., which can be used to control the movable platform 10 .

It should be noted that the control terminal 20 can be far away from the movable platform 10 to realize remote control of the movable platform 10, and can be fixedly or detachably installed on the movable platform 10, and can be set as required.

In some embodiments, the removable platform 10 may communicate with other remote devices other than the control terminal 20 , or with remote devices other than the control terminal 20 . The control terminal 20 may also communicate with another remote device and the movable platform 10 . For example, the movable platform 10 and/or the control terminal 20 may be in communication with another movable platform or a carrier or payload of another movable platform. When desired, the additional remote device may be a second terminal or other computing device (eg, a computer, desktop, tablet, smartphone, or other mobile device). The remote device may transmit data to the removable platform 10 , receive data from the removable platform 10 , transmit data to the control terminal 20 , and/or receive data from the control terminal 20 . Optionally, the remote device may be connected to the Internet or other telecommunication network to allow data received from the removable platform 10 and/or the control terminal 20 to be uploaded to a website or server.

It should be noted that the movable platform 10 may also be a land robot, an unmanned vehicle, etc., which is not limited herein.

FIG. 4 is a schematic flowchart of a path planning method provided by an embodiment of the present application.

As shown in FIG. 4 , the path planning method may include operations S402 to S406.

In operation S402, the concave working area of the movable platform is cut into a plurality of convex sub-areas.

In this embodiment, when the movable platform moves in the concave working area, the movement trajectory easily overlaps with the concave area (non-working area). In order to improve the above problems, the concave working area can be divided to obtain at least two convex sub-areas. When the movable platform moves in the convex sub-region, it does not move outside the convex sub-region due to the presence of the concave region. Specifically, the concave work area can be divided using cutting lines.

For example, the cut line may pass through one or more vertices of the concave work area. The vertices may include convex vertices and concave vertices. By making cutting lines through vertices, too many convex sub-regions will not be divided, and the probability of obtaining concave sub-regions can be reduced. In addition, when the concave working area includes a prohibited area (such as an obstacle area), the cutting line can pass through the vertex of the prohibited area, so as to avoid the planned target path overlapping with the prohibited area.

For example, the extension direction of the cutting line may be a direction specified by the user, such as the direction input by the user on the control terminal, and the direction may be determined based on the wind direction, the direction of the ridge in the field, the direction of the arrangement of crops, the direction of the ridge, etc. . For example, the control terminal is provided with components such as buttons and levers, and the user can input the direction by operating these components. For another example, the control terminal may include a display screen, and the user may input direction information or angle values through interactive components (such as virtual keys, joysticks, text input components, etc.) displayed on the display screen. The control terminal may be integrated, for example, the remote controller is provided with a processor, a memory, a display screen, and the like. The control terminal can be split. For example, the remote control and other electronic devices can form a control terminal. For example, the remote control and a smart phone can be interconnected to form a control terminal. Wherein, an application (APP) may be installed on the smart phone, and operation instructions, setting parameters, etc. may be input on the APP.

For example, the extension direction of the cutting line can be the current movement direction of the movable platform, which is convenient for the drone to operate directly along the current movement direction, without the need to adjust the movement direction of the movable platform to the user's arbitrary setting or system default for the operation. the specified direction.

In operation S404, a reference path of the movable platform corresponding to each convex sub-region is determined, and the direction of the reference path is parallel to the direction of the cutting line of the cutting operation region.

In this embodiment, the reference path may be set based on the cutting line, such as keeping the direction of the cutting line consistent. For example, the reference path may be a plurality of parallel lines parallel to each other, and the distance between two adjacent parallel lines may be related to the working width of the movable platform, such as spraying width, exploration width, and the like. In this way, it is convenient to generate respective sub-target paths of each convex sub-region based on the reference path of each convex sub-region.

For example, based on the operation width of the UAV, multiple reference paths in the concave operation area parallel to the flight direction of the UAV are obtained, and the reference paths are the planned operation paths of the UAV in the flight area. According to the intersection of the reference path and the boundary, that is, the position of the end point of the reference path or the position of the turning point, the reference path is divided into multiple work areas.

Generally speaking, the end points of the reference path are located on the boundary, and the distance between two adjacent moving paths is equal to the working width of the UAV. The flight direction of the UAV can be determined in various ways, for example, the direction of the longest side of the concave working area is used as the flight direction of the UAV.

In operation S406, the reference paths corresponding to each convex sub-area are connected to generate a target path when the movable platform operates in the work area.

In this embodiment, each convex sub-region may have at least two ports, wherein the at least two ports may include an inlet and an outlet. The exit of one convex sub-region can be connected to the entrance of another convex sub-region, and the target path can be obtained after the exit and entrance of multiple convex sub-regions are connected.

It should be noted that, in order to improve work efficiency, the shortest path may be obtained by traversing the respective exits and entrances of the plurality of convex sub-regions, and the shortest path may be used as the target path. For example, referring to the operational characteristics of the UAV, including fewer turns, flying nearby, and traversing the concave operation area, the sub-target paths of each convex sub-area are connected.

In the embodiment of the present application, the process of dividing convex sub-regions, planning a reference path, and generating a target path based on the reference path improves the problem of difficulty in path planning caused by the complex operation area, and adapts to the complex boundary of the actual farmland and the existence of large scales in the middle of the area. obstacles, etc.

In some embodiments, cutting the concave working area of the movable platform into a plurality of convex sub-areas may include the following operations.

First, candidate cutting lines are generated that pass through each of a plurality of vertices of the outer contour of the concave work area, and the extending direction of the candidate cutting lines is the designated direction or the current moving direction of the movable platform.

Then, the concave working area is cut into a plurality of convex sub-areas each having a convex polygon outer contour based on the first preset cutting rule and at least one cutting line, the at least one cutting line being determined from the candidate cutting lines. For example, the number of convex sub-regions is the minimum value of the number of convex sub-regions into which the concave work region can be decomposed. This helps to reduce the computational resources and processing time consumed by searching for the optimal path.

The outer contour of the concave working area can be represented by the coordinates of multiple vertices and the connection relationship between the coordinates. For example, in order to facilitate marking the boundary of the concave working area, the coordinates may include coordinates of a plurality of feature points for representing the boundary of the concave working area. The coordinate information of the feature points input by the user can be received through the input device, and the coordinate information of the feature points can also be obtained from the topographic image of the concave working area through image recognition. Feature points can be on boundaries. Line segments or curve segments can be used to connect the feature points on the boundary and serve as all or part of the boundary.

Determining the vertex coordinates may include the following operations. First, acquiring the latitude and longitude coordinates used to represent the vertices of the boundary, for example, acquiring the coordinates of the feature points used to represent the boundary as the latitude and longitude coordinates. Then, convert the latitude and longitude coordinates into three-dimensional coordinates in the geocentric coordinate system. For example, consider the earth as a sphere, and convert the latitude and longitude coordinates into three-dimensional coordinates in the three-dimensional Cartesian geocentric coordinate system with the center of the earth as the origin. Next, the three-dimensional coordinates can also be converted into two-dimensional coordinates in a plane coordinate system tangent to the earth's surface. The tangent point between the plane and the earth may be the starting point, or may be a point inside the concave working area or on the boundary.

The specific calculation process is illustrated below with an example: the latitude and longitude coordinates of vertex 1 are represented as p1(α, β), where α represents longitude and β represents latitude. Then, the latitude and longitude coordinates are converted into three-dimensional coordinates in the geocentric coordinate system OXYZ, and the three-dimensional coordinates can be expressed as p2(X, Y, Z). where X=R*cos(β*TO_RADIAN)*cos(α*TO_RADIAN), Y=R*cos(β*TO_RADIAN)*sin(α*TO_RADIAN), Z=R*sin(β*TO_RADIAN), R is The radius of the earth, TO_RANDIAN=pi/180, pi is the pi. Rotate p2(X, Y, Z) around OZ by -α0 degrees and around OX by -(90-β0) degrees, where (α0, β0) are the latitude and longitude coordinates of the tangent point between the plane and the earth, and obtain the direction pointing to the tangent point is the coordinate p3(x, y, z) under the three-dimensional coordinate system oxyz of the z-axis, and then the coordinate p3(x, y, z) coordinate is projected to the tangent plane oxy to obtain the plane coordinate p4(x, y). Since the concave operating area is smaller than the entire earth, it can be approximated as a plane. If the coordinates of the vertices use latitude and longitude coordinates, the calculation process of the subsequent flight path planning is very complicated, and may even bring greater errors. For this reason, the latitude and longitude coordinates are projected. The plane coordinates that are tangent to the earth's surface can effectively reduce the amount of subsequent calculations.

In some embodiments, the first preset cutting rule is used to cut the concave working area into a plurality of convex sub-regions each having a convex polygonal outer contour based on cutting lines passing through concave vertices of the concave working area. In this way, the processor can automatically divide the concave working area to obtain a reasonable number of sub-areas (such as a minimum number or a sub-area that does not cause too many numbers), and no concave-shaped sub-areas are generated.

For example, in the direction perpendicular to the candidate cut line and from left to right, each vertex activates 1 time per vertex that is connected to and to the right of the vertex. Correspondingly, the first preset cutting rule includes at least one of the following.

If the current vertex is activated zero times and there is no intersection between the candidate cutting line via the current vertex and the outer contour of the concave work area other than the current vertex, the candidate cutting line via the current vertex is discarded.

If the current vertex is activated zero times, the candidate cutting line via the current vertex intersects the outer contour of the concave working area at at least two intersection points other than the current vertex, and at least two intersection points are located at the same point of the current vertex in the direction of the candidate cutting line side, the candidate cutting line passing through the current vertex is discarded.

If the current vertex is activated zero times, the candidate cutting line via the current vertex intersects the outer contour of the concave working area at at least two intersection points other than the current vertex, and at least two intersection points are located at the current vertex in the direction of the candidate cutting line. On both sides, the candidate cutting line passing through the current vertex is used as the cutting line.

If the current vertex is activated once, in the extension direction of the candidate cutting line, the current vertex is closer to the centerline of the outer contour of the concave working area in the direction perpendicular to the candidate cutting line relative to the two vertices connected to the current vertex. The candidate cutting lines of the vertices are used as cutting lines.

If the current vertex is activated twice and there is no intersection other than the current vertex between the candidate cutting line via the current vertex and the outer contour of the concave working area, the candidate cutting line via the current vertex is discarded.

If the current vertex is activated twice, the candidate cutting line via the current vertex intersects the outer contour of the concave working area at at least two intersection points other than the current vertex, and at least two intersection points are located at the same point of the current vertex in the direction of the candidate cutting line side, the candidate cutting line passing through the current vertex is discarded.

If the current vertex is activated twice, the candidate cutting line via the current vertex intersects with the outer contour of the concave working area at least two intersections other than the current vertex, and the current vertex in the direction of the candidate cutting line is located at two of the above intersections In between, the candidate cutting line is used as the cutting line.

For overlapping candidate cutting lines, use one of the candidate cutting lines as the cutting line.

In the above manner, suitable cutting lines can be selected, so as to divide the concave working area into a plurality of convex sub-areas based on these cutting lines.

In some embodiments, the concave working area may further include an obstacle area, and the polygonal outer contour of the obstacle area serves as the polygonal inner contour of the concave working area.

FIG. 5 is a schematic diagram of a working area provided by an embodiment of the present application.

As shown in FIG. 5 , the enclosed area enclosed by the end point A, the end point B, the end point C, the end point D, the end point E and the end point F in the figure is a concave working area. The enclosed area enclosed by the endpoint a, the endpoint b, the endpoint c, and the endpoint d in the figure is the obstacle region. When an obstacle area exists within the concave working area, the boundary of the concave working area may further include a second boundary for representing the outer contour of the obstacle area. The obstacle area here may refer to an area with obstacles that the drone needs to bypass, such as a no-fly zone, an area with obstacles such as houses and utility poles that are not suitable for flying.

First, the candidate cutting lines passing through the outer contour of the concave working area and the multiple vertices of the polygon outer contour are determined, and the extending direction of the candidate cutting lines is the designated direction or the current moving direction of the movable platform.

Then, based on the second preset cutting rule and at least one cutting line, the area between the outer contour of the concave working area and the outer contour of the polygon is divided into a plurality of convex sub-regions each having the outer contour of the convex polygon, and the at least one cutting line is from Candidate cutting lines identified.

For example, the number of convex sub-regions is the minimum value of the number of convex polygonal outer contours that can be decomposed into the area between the outer contour of the concave working area and the polygonal outer contour. This helps to get a reasonable number of convex sub-regions without creating concave sub-regions.

For example, the second preset cutting rule is used to cut the difference between the outer contour of the concave working area and the outer contour of the polygon based on the first candidate cutting lines passing through the concave vertices of the concave working area and the second candidate cutting lines passing through the vertices of the outer contour of the polygon. The area between is divided into a plurality of convex sub-areas each having a convex polygonal outer contour. where the concave vertex is the vertex that is activated twice.

In some embodiments, for the outer contour of the concave working area, in the direction perpendicular to the candidate cutting line and from left to right, each vertex activates the vertex connected to the vertex and located to the right of the vertex once, and the second preset It is assumed that the cutting rule includes at least one of the following.

If the current vertex is activated twice, the candidate cutting line via the current vertex intersects with the outer contour of the concave working area at least two intersection points other than the current vertex, and the current vertex is located between the two intersection points in the direction of the candidate cutting line time, the candidate cutting line is used as the cutting line.

For the polygon outer contour, the candidate cutting lines passing through the vertices of the polygon outer contour are used as the cutting lines.

Keep one of the overlapping candidate cutting lines. Keep one of the overlapping cut lines.

In the above manner, multiple cutting lines can be obtained, and the sub-regions divided by the multiple cutting lines will not include concave sub-regions.

FIG. 6 is a schematic diagram of a cutting line provided by an embodiment of the present application. FIG. 7 is a schematic diagram of a convex sub-region provided by an embodiment of the present application.

As shown in Figure 6, the cutting line passes through a vertex (the boundary of the work area or the outline of an internal obstacle) and is parallel to the UAV flight direction. Using the above cutting lines, the operation area is cut into multiple sub-areas according to the boundary and contour, and each sub-area is a convex polygon, as shown in FIG. 7 .

In some embodiments, when the concave working area is divided by a cutting line with a specific angle (such as a non-horizontal or vertical cutting line), in order to reduce the consumption of subsequent computing resources and improve the processing speed, the concave The working area is rotated so that the cutting line at the specific angle becomes a horizontal cutting line or a vertical cutting line.

For example, there is an angle between the direction of the cut line and the specified direction.

Accordingly, cutting the concave working area of the movable platform into a plurality of convex sub-areas may include the following operations.

First, rotate the coordinate system where the outer contour of the concave working area is located based on the included angle, so that the coordinate axis of the coordinate system is consistent with or perpendicular to the specified direction. Wherein, the coordinate system may be a transformed plane coordinate system.

Then, the concave working area is cut into a plurality of convex sub-areas each having an outer contour of a convex polygon based on a cutting line consistent with the designated direction. In this way, the concave operation area can be divided by horizontal or vertical cutting lines, which can effectively reduce the computational resources consumed in the subsequent dividing process, and improve the processing speed.

In some embodiments, after connecting the reference paths corresponding to each convex sub-area to generate a target path for the movable platform when the movable platform operates in the work area, the above method may further include the following operation: reversely rotate the concave work based on the included angle The coordinate system where the outer contour of the area is located, and the target path of the movable platform for the restored concave working area is obtained.

FIG. 8 is a schematic diagram of a cutting line provided by another embodiment of the present application.

As shown in FIG. 8 , there is an included angle between the direction of the cutting line and the horizontal direction in FIG. 8 , and the direction of the cutting line can be horizontal or vertical by rotating the coordinate system.

In a specific embodiment, the computational complexity can be reduced by pre-rotating the coordinates. For example, when there is an angle of +30° between the direction of the cutting line and the vertical direction, you can first rotate the coordinates of the entire work area by -30°; then, in the rotated coordinate system, the path is carried out in the vertical direction Planning; then, rotate the path coordinates planned in the previous operation by +30°, so that the path coordinate system returns to the coordinate system with an included angle of +30°. The above operations of rotating the coordinate axis can effectively reduce the resources consumed by the subsequent determination of the target path, such as dividing convex sub-regions, traversing the connection mode between each convex sub-region, and determining the respective entrance and exit of each convex sub-region. resources consumed.

The following is an exemplary description of the generation process of the reference path.

In some embodiments, determining the reference path of the movable platform corresponding to each convex sub-region may include the following operations.

First, multiple reference paths parallel to each other are generated based on the direction of the cutting line, and the distance between two adjacent reference paths is related to the working radius of the movable platform. Wherein, the extension direction of the reference path is parallel to the direction of the cutting line, which is helpful to realize the operation consistency of the movable platform in the operation along the reference path in each convex sub-region.

Then, the reference path is cut using the outer contour of each convex sub-region, so as to generate a reference path for each convex sub-region, so as to generate respective sub-target paths of the convex sub-region.

In some embodiments, generating the respective sub-target paths for the convex sub-regions may include the following operations.

First, a turning path for the outer contour of each convex sub-region is generated.

Then, for each of the convex sub-regions, the reference path of the convex sub-region and the turning path for the outer contour of the convex sub-region are connected to obtain a sub-target path of the convex sub-region.

It should be noted that the outer contour of the convex sub-region may be used as a reference line for setting the turning path. In addition, in order to improve the operation accuracy, such as reducing the movable platform affecting the area outside the outer contour of the convex sub-area during the operation, the outer contour of the convex sub-area can be indented, and the result obtained after indenting As a baseline for setting the turning path.

In some embodiments, the target paths include respective switching paths for the convex sub-regions, such that the movable platform can move to an adjacent reference path of the current reference path based on the switching paths.

FIG. 9 is a schematic diagram of a reference path provided by an embodiment of the present application.

As shown in FIG. 9 , the concave work area is divided into three convex sub-areas C1 , C2 , and C3 . The extension direction of the reference path is consistent with the extension direction of the cutting line. The intersections of the convex sub-regions C1 , C2 , and C3 with the vertical reference paths can be used as endpoints of the respective reference paths.

Referring to FIG. 9 , in order to reduce the impact on the non-working area during operation, the end point of the reference path can be indented by a certain size, such as indented by a dimension l corresponding to the working radius.

In the above manner, it is convenient to determine the respective sub-target paths of the convex sub-regions based on the generated reference path and the turning path. It should be noted that in the process of determining the respective sub-target paths of the convex sub-regions, in addition to the reference path and the steering path, it is also necessary to determine the respective entrances and exits of the convex sub-regions. The path, the turning path and the exit are connected to each other, and the respective sub-goal paths of the convex sub-regions can be obtained. The respective entrances and exits of the convex sub-regions may be determined by means of traversal or the like, and the methods for determining the respective entrances and exits of the convex sub-regions will be described in the following embodiments.

The respective connection modes, inlets and outlets, etc. of each convex sub-region will be exemplarily described below.

In some embodiments, connecting the reference paths corresponding to each convex sub-area to generate a target path for the movable platform to operate in the work area may include the following operations.

First, determine the order of connections between each convex subregion. Then, the respective entrances and exits of each convex sub-region are determined based on the connection order, and respective sub-target paths for each convex sub-region are respectively generated based on the respective entrances and exits of each convex sub-region. Next, based on the connection sequence and the respective entrances and exits of each convex sub-area, the respective sub-target paths of each convex sub-area are connected to generate a target path of the movable platform in the concave working area. For example, the outlet and inlet of each convex sub-area are connected according to the above connection sequence, so as to obtain the target path of the movable platform in the concave working area. For example, the endpoints on both sides of the outermost reference path of the convex subregion are taken as the ports of the current convex subregion. A convex sub-region can have 4 ports, one of which is used as an exit and the other is used as an entrance, so as to connect the sub-target paths of each convex sub-region.

FIG. 10 is a schematic diagram of a sub-target path for the convex sub-region in FIG. 9 .

As shown in FIG. 10 , the convex sub-regions C1, C2, and C3 each have four ports. For example, the convex sub-region C1 has ports i11, i12, i13, and i14, and the convex sub-region C2 has ports i21, i22, i23, i24, the convex subregion C3 has ports i31, i32, i33, i34. The traversal method can be used to determine which port is used as the starting point (entrance) of the target path, and which port is used as the end point (exit) of the target path, so that the path length of the target path is the shortest.

Among them, two aspects need to be considered when searching: first, the connection sequence of each sub-region, and then the selection of the entrance of each sub-region.

Referring to Figure 10, each convex sub-area has 4 entrances. Obviously, due to the arcuate movement path, on the premise that the working radius has been determined (for example, the working radius of a specific movable platform is fixed), the convex sub-area has 4 entrances. Once the entrance to the area is determined, the exit is determined. In order to obtain the optimal target path, a recursive depth search method can be used. For example, the first layer: construct a different connection order; the second layer: construct a different entry order. Taking the shortest overall path as the search goal, finally obtain the connection order of each sub-area, and the exit and entrance positions of each sub-area path.

In some embodiments, after traversing all convex sub-regions, the path with the least non-job consumption may also be used as the target path. The non-operational consumption can refer to the consumption other than the flying operation of the UAV, at least including the distance consumption between different convex sub-regions. In addition, it can also include the distance consumption from the starting point to the operation area and the distance consumption from the exit to the take-off point.

For example, a path with the least non-work consumption can be selected as the target path of the UAV. Specifically, the connection mode between the convex sub-regions can be determined.

The connection method can be determined by permutation and combination. For n convex sub-regions, to traverse all convex sub-regions, there are n! As the number of convex sub-regions increases, the amount of computation increases sharply. In order to reduce the amount of calculation, the entrance of each sub-region can be ignored first, and only the total length of the connection paths between n convex sub-regions can be considered. For example, a graph of the connectivity relationship between different convex sub-regions can be drawn, and based on different connection modes, the total path length of each connection mode can be obtained. This method is equivalent to considering the adjacent relationship between n convex sub-regions. For example, two convex sub-regions connected by a line indicate that the two convex sub-regions are adjacent, and two convex sub-regions not connected by a line are adjacent. A convex sub-region means that the two convex sub-regions are non-contiguous. The problem of determining the connection mode of candidate convex sub-regions according to the adjacency relationship between convex sub-regions can be transformed into the problem of solving Hamiltonian paths and/or Euler paths according to the connectivity graph. Through the above algorithm, the optimal solution of the connection sequence of each sub-region is obtained. where n is a positive integer greater than or equal to 2.

In some embodiments, connecting the respective sub-target paths of each convex sub-area to generate the target path of the movable platform in the concave work area may include the following operations.

First, search for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region. The respective entrance or exit of each convex sub-region is located in one of the reference path of the convex sub-region and the outer contour of the convex sub-region. intersection.

Then, a target path of the movable platform in the concave working area is generated based on the connection with the convex sub-areas and the respective entrances or exits of each convex sub-area, so that the target path is the shortest.

For example, for each connection method, the inlet and outlet of the convex sub-region are determined according to the ports of each convex sub-region and the number of reference paths included in the convex sub-region, and then determined according to the inlet and outlet of the convex sub-region. The connection mode between the convex sub-regions, if the convex sub-region C1 is used as the starting convex sub-region, the connection order of the plurality of convex sub-regions C1, C2, C3 is the region C1 to the region C3, and Area C2 to Area C3.

For each convex sub-area, the inlet and outlet of each convex sub-area can be determined by permutation and combination, that is, each port can be used as an inlet or an outlet; The number of reference paths and the entrance are determined, that is, the UAV enters the convex sub-area from the entrance and then flies back and forth according to the reference path, and then leaves the convex sub-area as the exit port.

In some embodiments, searching the connection manner of each convex sub-region and the respective entrance or exit of each convex sub-region may include the following operations.

The following operations are repeated until candidate target paths under each connection mode are determined: for a connection mode, the respective entrances or exits of each convex sub-region under the connection mode are determined, so that the target path is the shortest under the connection mode. First, compare the candidate target paths under each connection mode; then, obtain the connection mode of the convex sub-region corresponding to the candidate target path with the shortest path length and the respective entrance or exit of each convex sub-region.

Specifically, for each connection mode, only one candidate port connection mode can be used, that is, for the convex sub-region, the port closest to the starting point is selected as the entrance of the convex sub-region, and according to the aforementioned method, according to the convex sub-region The number of reference paths included in the sub-region and the entrance of the convex sub-region determine the exit of the convex sub-region; for the remaining convex sub-regions, the port closest to the exit of the previous convex sub-region is selected as the current convex sub-region. The entrance of the convex sub-region, and in the aforementioned manner, the exit of the current convex sub-region is determined according to the number of reference paths included in the current convex sub-region and the entrance of the current convex sub-region.

For example, for each candidate port connection mode, that is, the candidate connection path, its non-job consumption is calculated. The non-operational consumption may include the consumption of any non-operational path during the flight, for example, the non-operational consumption may include at least the distance consumption between different convex sub-regions and the distance consumption from the origin to the convex sub-areas. For the above distance consumption, it can be calculated by using the adjacency matrix. The elements of the i-th row and the j-th column of the adjacency matrix represent the cost of connecting the i-th convex sub-region and the j-th convex sub-region, that is, the UAV is in the two convex sub-regions. Distance consumption between sub-regions. Each convex sub-region has four ports, so there are 4*4=16 connection methods between the two convex sub-regions. The elements of the adjacency matrix are 16-dimensional vectors, which respectively represent the two convex sub-regions. Consumption of any two port connections. When calculating the distance consumption, the specified port connection consumption corresponding to different convex sub-regions can be found from the adjacency matrix, and then accumulated. The start/end point can be counted in the adjacency matrix as a special convex subregion, or the distance cost between the start point/end point and the convex subregion can be calculated separately.

Referring to FIG. 10 , in the convex sub-region starting from the convex sub-region C1, the connection sequence is determined to be the region C1 to the region C3, and the region C2 to the region C3. If the entrance of area C1 is port i11, it can be determined that the exit of area C1 is port i13, the entrance of area C3 is port i31, the exit of area C3 is port i34, the entrance of area C2 is port i23, and the exit of area C2 is port i21. The above methods can effectively reduce the computing resources consumed by the search algorithm, improve the search efficiency, and obtain target paths with less non-job consumption. After verification, the search efficiency of the above algorithm is less than 1/10 of the global search.

Through the implementation of the above embodiment, the concave operation area is divided into a plurality of convex sub-areas, and then the flight path of the UAV is determined according to the plurality of convex sub-areas, the flight path planning of the concave operation area with complex terrain can be processed, and the flight path is reduced. Computational amount of path planning.

In certain embodiments, the concave work area further includes an obstacle area. In a scenario where there is an obstacle, after repeating the above operations until the candidate target paths in each connection mode are determined, the above method may further include the following operations. First, based on the connection mode and the respective entrance or exit of each convex sub-region, the connection path of the convex sub-region under each connection mode is determined. Then, if the connecting path of the convex sub-region overlaps the obstacle region, it is determined that the connecting manner corresponding to the connecting path of the convex sub-region is unsafe, so as to remove the unsafe connecting manner. The geographic shape of the operation area involved in agricultural operations is complex. For example, the concave operation area includes multiple obstacle areas and multiple concave areas. In the process of switching the convex sub-areas for operation, there is a certain risk that the movable area can be moved. When the platform moves according to the target path, it moves to the obstacle area or the concave area. Therefore, after the target path is generated, the target path can be detected, and if the above risk exists, the connection mode can be deleted to reduce the risk.

FIG. 11 is a schematic diagram of a target path provided by an embodiment of the present application.

As shown in Fig. 11, since the reference paths in Fig. 11 are parallel to each other, most of the generated target paths are parallel to each other, and most of the remaining paths are generated based on the outer contour of the concave working area. The connection of the target paths between the convex sub-regions in Figure 11 is relatively smooth, and there are few large-angle turns, etc., which is more in line with the needs of efficient and smooth movement of mobile devices such as drones. In addition, the job consistency between convex sub-regions is higher.

FIG. 12 is a schematic diagram of a target path provided by another embodiment of the present application. FIG. 13 is a schematic diagram of the steering path in FIG. 12 .

As shown in Figure 12, the concave working area ABCDEF includes the obstacle area abcd, the reference paths in the target path planned for this scene are parallel to each other, and the reference paths are connected by the steering path, and the sub-target paths in different convex sub-areas Connect through a specific connection method. For example, the line segments in Figure 12 that intersect multiple reference paths.

In order to facilitate the understanding of the specific components and formation reasons of the target path in FIG. 12 , the physical meaning of each line segment is shown in the form of a grayscale image in FIG. 13 . 13 shows the outer contour of the concave working area, the outer contour of the obstacle area, the reference path, the turning path, and the connecting path. Among them, the outer contour of the concave working area, the outer contour of the obstacle area and the reference path are shown with black solid lines. Steering paths are shown as solid grey lines. Connection paths are shown in bold solid lines. In addition, for ease of understanding, the cutting line is also shown in FIG. 13 , as shown by the thin dashed line, the cutting line from the end point b is covered by the reference path, which is not shown. It should be noted that the cutting lines are not displayed in the generated target path.

Referring to FIG. 13 , the salient features of the target path generated in this embodiment of the present application include, but are not limited to, at least one of the following. For example, the target path avoids obstacles in the area in a different way than the side detour, that is, when the target path encounters an obstacle, the target path goes to the adjacent reference path instead of detouring to the reference path the other side of the obstacle. For example, with a concave work area, the target path will not fly out of the work area from the concave portion. For example, there are connection paths between the segmented convex sub-regions. For example, it can be applied to work areas with concave boundaries and work areas with large obstacles inside. For example, reference paths are parallel to each other. For example, the reference path and the cutting line are parallel to each other.

In some embodiments, when the movable platform flies according to the connection path, referring to the connection path 104 in FIG. 1 , the movable platform does not need to perform operations during the movement along the connection path 104 , otherwise it will lead to repeated operations , which affects the consistency of the job. In order to solve the above problem, a coordinate sequence of multiple task points can be formed. In different target path intervals, it is determined whether to execute the job based on the task set by the user.

The drone will operate between multiple mission points in a sequence of coordinates. The mission points include at least the points where the drone needs to change the operating state. For example, the task points at least include coordinate points and corresponding job states.

The calculated coordinates of the task point can be the plane coordinates based on the tangent plane. In order to facilitate the operation of the UAV, the plane coordinates can be converted into longitude and latitude coordinates. This calculation process is the inverse operation of the above-mentioned conversion of longitude and latitude into plane coordinates. Here No further details.

Referring to FIG. 1, when the movable platform reaches the end point of the connection path 104, that is, the task point corresponding to the end point of the connection path 104 is triggered, the state of the movable platform can be adjusted from the working state to the stop working state, but Continue to move along connection path 104 . Through the above methods, the drone should stop working when flying from one convex sub-region to another convex sub-region to avoid waste. Certainly, when the movable platform leaves the connection path 104, a task point corresponding to the other end point of the connection path 104 may be triggered, and the state of the movable platform may be adjusted from the stop operation state to the operation state.

In some embodiments, at least one of the concave work area outer contour and the polygonal outer contour is input by the user. The operation object input by the user may be a control terminal, and the control terminal may be integrated with the movable platform, or may be separated.

For example, the execution body for determining the outer contour of the concave working area and the polygonal outer contour may be a control application program of a movable platform, such as an application (app), or a device running the control application program, such as a remote control of the movable platform, Mobile phones, ipads, base stations for mobile platforms, etc.

Specifically, first, a topographic image of the concave work area may be displayed. Among them, the landform image is displayed on the display screen, or the landform image is projected and displayed, and the landform image can be a downloaded map or obtained through aerial photography of a drone.

Then, the coordinates of a plurality of feature points representing the boundaries of the topographic image of the concave work area are acquired. For example, the coordinate information of the feature points input by the user can be received through an input device, such as a touch screen, a keyboard, a mouse, a microphone, a key, etc., or the coordinate information of the feature points can be extracted from a landform image through image recognition. Feature points may or may not be on the boundary.

The feature points include at least a plurality of feature points for representing the outer contour of the concave working area. When there is an obstacle in the concave working area, the feature points may further include feature points for representing the outer contour of the obstacle area. The obstacle area here refers to an area with obstacles that the drone needs to bypass, such as a no-fly zone, an area with obstacles such as houses and utility poles that are not suitable for flying.

After the feature points are determined, the edge line of the concave working area can be determined according to the coordinates of the multiple feature points. For example, a straight line or a curved line can be used to connect the feature points on the boundary and the formed polyline or curved line can be used as all or part of the edge line. The edge lines can be displayed on the display superimposed with the relief image.

In addition, the user input may further include operation parameters, etc. The following description will be given as an example where the movable platform is an unmanned aerial vehicle.

The above method may further include the following operation: acquiring the operation parameters of the UAV. Among them, the operation parameters input by the user can be obtained through the input device, and the operation parameters of the UAV can also be obtained through other methods, such as from the Internet or locally stored data. The operating parameters include at least the wind direction, the operating width of the drone and the starting point. In addition, the operation parameters may further include safety distance thresholds, abnormal handling methods (such as returning home, landing, etc.), spraying parameters and other parameters.

In this way, it is convenient for the UAV to determine the flight path of the UAV in the concave operation area according to the target path and the operation parameters of the UAV. It should be noted that there may be differences between the actual flight path and the target path. If an obstacle moves to the target path, the UAV needs to bypass the obstacle and continue to drive along the target path.

Among them, referring to the operational characteristics of the UAV, including less turns, flying nearby, etc., these reference paths are connected with the starting point (plus the end point if necessary), and the connection method with the least non-operational consumption is selected as the flight path.

In some embodiments, in order for the user to know the progress of the operation and the running state of the UAV in time, the above method may further include: displaying the flight path. For example, the flight path can be displayed on the display screen, and the flight path can be displayed overlaid with the landscape image.

It should be noted that when the planned flight path includes the return point, the operational parameters of the UAV should include the parameters required to estimate the return point, such as the maximum flight time and flight distance of the UAV. When the flight path is shown, the start and return points can be shown on the display. In addition, it can also display threats detected by the drone, such as obstacle information, etc. When the drone is provided with an image sensor, the captured image information can be further transmitted to the remote controller, so as to display the captured image information.

FIG. 14 is a schematic flowchart of a path planning method provided by another embodiment of the present application.

As shown in Figure 14, the path planning method is used to plan the target path of the movable platform. Specifically, the method may include operations S1402 to S1404.

In operation S1402, a plurality of convex sub-regions and respective sub-target paths of the plurality of convex sub-regions are determined.

In this embodiment, the plurality of convex sub-regions may be determined by dividing the work area based on a rule, or may be obtained by the user by himself/herself. The sub-target path of the convex sub-region may be determined based on the reference path and the outer contour of the convex sub-region. The extension direction of the reference path may be set by the user, or determined based on the moving direction of the movable platform.

In operation S1404, the respective sub-target paths of each convex sub-region are connected to generate a target path such that the target path is the shortest.

The connection mode between each convex sub-region can be determined by traversing each convex sub-region. The shortest target path may refer to the least consumption of non-job resources.

In some embodiments, connecting the respective sub-target paths of each convex sub-region to generate a target path such that the target path is the shortest may include the following operations.

First, search for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region. The respective entrance or exit of each convex sub-region is located in one of the reference path of the convex sub-region and the outer contour of the convex sub-region. intersection. For example, the intersection of the outermost reference path in the convex sub-region and the outer contour of the convex sub-region can be used as a port. A convex sub-region may include 4 ports, two of which may serve as the inlet or outlet of the convex sub-region.

Then, the target path of the movable platform in the concave work area is generated based on the connection with the convex sub-areas and the respective entrances or exits of the convex sub-areas, so that the target path is the shortest, and the concave work area includes each convex sub-area.

FIG. 15 is a schematic diagram of each port of an image sub-region provided by an embodiment of the present application.

The ports of the two convex sub-regions are shown in FIG. 15 . For example, the convex sub-region in the upper left corner has a total of 4 ports. Among them, one port can be used as ingress, and one port can be used as egress. The inlet and outlet can be the same port or two different ports.

The upper left convex subregion in FIG. 15 includes ports a1, a2, a3 and a4, and the convex subregion adjacent to the upper left convex subregion includes ports b1, b2, b3 and b4. Taking the upper left convex subregion as an example, ports a1 and a3 are the intersections of the leftmost reference path in the upper left convex subregion and the outer contour of the upper left convex subregion; ports a2 and a4 are the upper left The intersection of the rightmost reference path in the square convex subregion and the outer contour of the upper left convex subregion. One of the ports a1, a2, a3 and a4 can be used as the inlet of the upper left convex sub-region, and one of the ports a1, a2, a3 and a4 can be used as the outlet of the upper left convex sub-region. For example, port a1 is used as the entrance of the upper left convex sub-area, and port a1 is used as the exit of the upper left convex sub-area. In order to reduce the non-working resources consumed by the movable platform when switching convex sub-areas, port b1 As the inlet of the convex sub-region, one of the ports b2, b3 and b4 serves as the outlet of the convex sub-region.

In some embodiments, the respective sub-target paths of the convex sub-regions may be determined in the following manner. First, multiple reference paths that are consistent with the specified direction or the current moving direction of the movable platform are generated, and two adjacent paths are generated. The distance between the reference paths is related to the working radius of the movable platform. Then, use the outer contour of each convex sub-region to cut the reference path to generate the reference path of the movable platform in each convex sub-region, so as to generate the respective sub-target path of the movable platform in each convex sub-region. Specifically, for the reference path, reference may be made to the related description for FIG. 9 . For example, the extension direction of the reference path may be determined based on the current moving direction of the movable platform, the current wind direction, etc., and the distance between adjacent reference paths may be determined based on the working radius of the movable platform. The coordinate system in which the reference path is located can be rotated, etc.

Repeat the following operations until the candidate target paths under each connection mode are determined: for a connection mode, determine the respective entrance or exit of each convex sub-region under the connection mode, so that the target path is the shortest under the connection mode; first, compare the Candidate target paths for each connection mode. Then, the connection mode of the convex sub-regions corresponding to the candidate target path with the shortest path length and the respective entrance or exit of each convex sub-region are obtained.

Among them, after traversing all convex sub-regions, the path with the least non-job consumption can also be used as the target path. The non-operational consumption can refer to the consumption other than the flying operation of the UAV, at least including the distance consumption between different convex sub-regions. In addition, it can also include the distance consumption from the starting point to the operation area and the distance consumption from the exit to the take-off point.

For example, a path with the least non-work consumption can be selected as the target path of the UAV. Specifically, the connection mode between the convex sub-regions may be determined first. Then, the sub-target path of each convex sub-region is determined based on the connection mode. Among them, the candidate connection modes can be determined by permutation and combination, and then the connection modes between the convex sub-regions can be determined by traversing the candidate connection modes, such as the connection mode with the shortest path. Then, the target path is determined based on the connection manner, the entrance and port of each convex sub-region, the width between adjacent reference paths, and the like. For example, if it is determined that the connection method is convex sub-area 1-convex sub-area 2-convex sub-area 3, and the entrance is a port of convex sub-area 1, the above-mentioned port can be used as the starting point, along the reference path and The outer contour of the convex sub-region and the connection path (determined based on the connection mode between different convex sub-regions) generate the target path.

In some embodiments, the above method may further include the following operations. First, identify multiple obstacle areas. Then, after the above-mentioned determination of candidate target paths in each connection mode, based on the connection mode and the respective entrance or exit of each convex sub-region, the convex sub-region connection path in each connection mode is determined. If the connection path of the convex sub-region overlaps with the obstacle region, it is determined that the connection method corresponding to the connection path of the convex sub-region is unsafe, so as to remove the unsafe connection method. In this way, the probability of risk occurring when the movable platform transfers the convex sub-region for operation is reduced.

Another aspect of the present application provides a path planning system for planning a target path of a movable platform. The path planning system may include a movable platform and a control terminal, an application (APP) may be installed on the control terminal, and the user may transmit information between the application and the movable platform, such as sending or receiving control instructions, working parameters, etc. .

FIG. 16 is a flowchart of route planning performed by the route planning system provided in this embodiment of the present application.

As shown in Figure 16, on the application side, the user can set the working area, demarcate the obstacle area and set the width between adjacent reference paths (such as the distance between adjacent reference paths) through the APP. parameters such as the direction of movement. The control terminal sends the values of the above-mentioned parameters to the movable platform through the APP, and the movable platform uses the algorithm to process at least part of the values of the above-mentioned parameters to realize such as cutting convex sub-regions, generating reference paths, and determining each convex sub-region. The sequence of connections between regions and operations such as connecting convex subregions to generate target paths. If the movable platform is a drone, the path is an air route. Specifically, the work area is divided into a plurality of convex sub-areas by using the cutting lines. Then a reference route is generated, and the cut route position is generated in the convex sub-region. Next, a search method is used to determine the connection sequence and entry of each convex sub-region. Then, the routes of the convex sub-regions are connected in the order of connection. In addition, the safety of connecting routes between convex sub-areas can be checked relative to the obstacle area to reduce the risk.

Another aspect of the present application provides a path planning apparatus for planning a target path of a movable platform.

FIG. 17 is a schematic structural diagram of a path planning apparatus provided by an embodiment of the present application.

As shown in FIG. 17 , the path planning apparatus 1700 may include one or more processors 1710, and the one or more processors 1710 may be integrated in one processing unit, or may be separately provided in multiple processing units. A computer-readable storage medium 1720 for storing one or more computer programs 1721, the computer programs, when executed by the processor, implement the above path planning method, for example, cutting the concave working area of the movable platform into a plurality of convex shapes Sub-areas; determine the reference path of the movable platform corresponding to each convex sub-area, the direction of the reference path is parallel to the direction of the cutting line of the cutting operation area; connect the reference paths corresponding to each convex sub-area to generate the movable platform The target path when working in the work area.

Wherein, the path planning apparatus 1700 may be set in one execution body or respectively set in multiple execution bodies. For example, in a scenario such as a land robot that can implement a local control function, the path planning device 1700 can be installed in the land robot. For example, the land robot is provided with a gimbal, and operation equipment (such as spraying equipment) can be installed on the gimbal. device, camera, radar, etc.), the body of the land robot is provided with a display screen to facilitate interaction with the user. For another example, in a scenario where a non-local control terminal can be used to control the movable platform, at least part of the path planning apparatus 1700 can be set in the control terminal, such as the relevant functions of accepting user operations are set in the control terminal. At least a part of the path planning apparatus 1700 may be set in a movable platform, such as at least one of an information transmission function, an environmental information sensing function, and a linkage control function. In addition, at least part of the path planning apparatus 1700 may be provided in the flight controller to perform convex sub-region division, generate reference paths, and the like.

For example, the processing unit may comprise a Field-Programmable Gate Array (FPGA) or one or more ARM processors. The processing unit may be connected to non-volatile computer readable storage medium 1720 . The non-volatile computer-readable storage medium 1720 may store logic, code, and/or computer instructions executed by the processing unit for performing one or more steps. The non-volatile computer readable storage medium 1720 may include one or more storage units (removable media or external memory such as SD card or RAM). In some embodiments, the data sensed by the sensors may be transferred and stored directly into a storage unit of the non-volatile computer-readable storage medium 1720 . The storage units of the non-volatile computer-readable storage medium 1720 may store logic, code, and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein. For example, a processing unit may be configured to execute instructions to cause one or more processors of the processing unit to perform the tracing functions described above. The storage unit may store sensing module sensing data, the data sensing being processed by the processing unit. In some embodiments, the storage unit of the non-volatile computer-readable storage medium 1720 may store processing results generated by the processing unit.

In some embodiments, the processing unit may be connected to the control module for controlling the state of the movable platform. For example, the control module may be used to control the power mechanism of the movable platform to adjust the spatial orientation, velocity and/or acceleration of the movable platform relative to six degrees of freedom. Alternatively or in combination, the control module may control one or more of the carrier, load or sensing module.

The processing unit may also be connected to the communication module for transmitting and/or receiving data with one or more peripheral devices (eg, terminals, display devices, or other remote control devices). Any suitable communication method may be utilized here, such as wired communication or wireless communication. For example, the communication module may utilize one or more local area networks, wide area networks, infrared, radio, Wi-Fi, peer-to-peer (P2P) networks, telecommunication networks, cloud networks, and the like. Optionally, a relay station, such as a signal tower, a satellite, or a mobile base station, can be used.

The above-mentioned various components may be compatible with each other. For example, one or more components are located on a movable platform, carrier, payload, terminal, sensing system, or additional external device in communication with each of the foregoing. In some embodiments, one or more of the processing unit and/or non-transitory computer-readable medium may be located in different locations, such as on a removable platform, carrier, payload, terminal, sensing system, or Additional external devices that communicate with the foregoing devices and various combinations of the foregoing.

Furthermore, the control terminal adapted to the movable platform may include an input module, a processing unit, a memory, a display module, and a communication module, all of which are connected by a bus or similar network.

The input module includes one or more input mechanisms to obtain input generated by the user by manipulating the input module. Input mechanisms include one or more joysticks, switches, knobs, slide switches, buttons, dials, touchscreens, keypads, keyboards, mice, voice controls, gesture controls, inertial modules, and the like. The input module may be used to obtain user input for controlling the movable platform, carrier, load, or any aspect of the components therein. Any aspect includes attitude, position, orientation, flight, tracking, etc. For example, the input mechanism may be that the user manually sets one or more positions, each position corresponding to a preset input, to control the movable platform.

In some embodiments, the input mechanism may be operated by a user to input control commands to control the movement of the movable platform. For example, a user can use a knob, switch, or similar input mechanism to input a motion mode of the movable platform, such as auto-flying, auto-pilot, or moving according to a preset motion path. For another example, the user can control the position, attitude, orientation, or other aspects of the movable platform by tilting the control terminal in a certain way. The tilt of the control terminal can be detected by one or more inertial sensors, and corresponding motion commands can be generated. As another example, the user can utilize the above input mechanism to adjust the operational parameters of the payload (eg spray or not, flow adjustment, zoom), the attitude of the payload (via the carrier), or other aspects of any object on the movable platform.

In some embodiments, the input mechanism may be operated by the user to input the aforementioned descriptive object information. For example, a user may select an appropriate motion mode, such as a manually controlled movement mode or an automatically controlled movement mode, using a knob, switch, or similar input mechanism. The user can also use this input mechanism to select the target path to take. In various embodiments, the input module may be executed by more than one device. For example, the input module can be implemented by a standard remote controller with a joystick. A standard remote controller with a joystick connects to a mobile device (eg, a smartphone) running a suitable application ("app") to generate control commands for the movable platform. The app can be used to get input from the user.

The processing unit may be connected to the memory. Memory includes volatile or non-volatile storage media for storing data, and/or logic, code, and/or program instructions executable by a processing unit for performing one or more rules or functions. The memory may include one or more storage units (removable media or external memory such as SD card or RAM). In some embodiments, the data input to the module may be directly transferred and stored in a storage unit of the memory. The storage units of the memory may store logic, code and/or computer instructions executed by the processing unit to perform various embodiments of the various methods described herein. For example, the processing unit may be configured to execute instructions to cause one or more processors of the processing unit to process and display sensory data (eg, images) obtained from the movable platform, control commands generated based on user input, including motion commands and objects information, and cause the communication module to transmit and/or receive data, etc. The storage unit may store sensed data or other data received from an external device such as a removable platform. In some embodiments, the storage unit of the memory may store the processing result generated by the processing unit.

In some embodiments, the display module may be used to display the position, translation velocity, translation acceleration, direction, angular velocity, angular acceleration, or a combination thereof of the movable platform 10, the carrier 13 and/or the working device 14 as shown in FIG. 3 . etc. information. The display module can be used to obtain information sent by the movable platform and/or the payload, such as sensing data (images recorded by cameras or other image capturing devices), control feedback data, and the like. In some embodiments, the display module may be executed by the same device as the input module. In other embodiments, the display module and the input module may be executed by different devices.

The communication module may be used to transmit and/or receive data from one or more remote devices (eg, removable platforms, carriers, base stations, etc.). For example, the communication module can transmit control signals (such as motion signals, target information, and tracking control commands) to peripheral systems or devices, such as the movable platform 10 , the carrier 13 and/or the working device 14 in FIG. 3 . The communication module may include a transmitter and a receiver for receiving data from and transmitting data to the remote device, respectively. In some embodiments, the communication module may include a transceiver that combines the functions of a transmitter and a receiver. In some embodiments, the transmitter and receiver and the processing unit may communicate with each other. Communication may utilize any suitable means of communication, such as wired or wireless communication.

Images captured by the movable platform during motion can be transmitted from the movable platform or imaging device back to a control terminal or other suitable device for display, playback, storage, editing, or other purposes. Such transmission may occur in real-time or near real-time as the imaging device captures the imagery. Optionally, there may be a delay between the capture and transmission of the imagery. In some embodiments, the imagery may be stored in the removable platform's memory without being transferred anywhere else. The user can view these images in real time and, if necessary, adjust target information or other aspects of the movable platform or its components. Adjusted object information may be provided to the movable platform, and the iterative process may continue until the desired image is obtained. In some embodiments, the imagery may be transmitted to a remote server from the removable platform, the imagery device, and/or the control terminal. For example, images can be shared on some social networking platforms, such as WeChat Moments or Weibo.

In some embodiments, cutting the concave working area of the movable platform into a plurality of convex sub-areas includes the following operations. First, candidate cutting lines are generated that pass through each of a plurality of vertices of the outer contour of the concave work area, and the extending direction of the candidate cutting lines is the designated direction or the current moving direction of the movable platform. Then, the concave working area is cut into a plurality of convex sub-areas each having a convex polygon outer contour based on the first preset cutting rule and at least one cutting line, the at least one cutting line being determined from the candidate cutting lines.

For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.

In some embodiments, the number of convex sub-regions is the minimum value of the number of convex sub-regions into which the concave working region can be decomposed.

In some embodiments, the first preset cutting rule is used to cut the concave working area into a plurality of convex sub-regions each having a convex polygonal outer contour based on cutting lines passing through concave vertices of the concave working area.

In some embodiments, the first preset cutting rule includes at least one of the following: in the direction perpendicular to the candidate cutting line and from left to right, each vertex is activated once connected to the vertex and located on the right side of the vertex vertices.

Accordingly, if the current vertex is activated zero times and there is no intersection between the candidate cutting line via the current vertex and the outer contour of the concave working area other than the current vertex, the candidate cutting line via the current vertex is discarded.

In some embodiments, the concave working area further includes an obstacle area, and the polygonal outer contour of the obstacle area serves as the polygonal inner contour of the concave working area.

For related content such as cutting lines, reference may be made to the same parts of the previous embodiments, which will not be repeated here.

In some embodiments, the number of convex sub-regions is the minimum value of the number of convex polygonal outer contours that can be decomposed into a region between the outer contour of the concave working region and the polygonal outer contour.

In some embodiments, the second preset cutting rule is used for cutting the outer contour of the concave working area based on the first candidate cutting lines passing through the concave vertices of the concave working area and the second candidate cutting lines passing through the vertices of the polygonal outer contour. The region between the polygonal outer contour and the polygonal outer contour is divided into a plurality of convex sub-regions each having a convex polygonal outer contour.

In some embodiments, the second preset cutting rule includes at least one of the following: for the outer contour of the concave working area, in the direction perpendicular to the candidate cutting line and from left to right, each vertex is activated once and connected to the vertex and the vertex to the right of that vertex.

For example, if the current vertex is activated zero times and there is no intersection between the candidate cutting line via the current vertex and the outer contour of the concave work area other than the current vertex, then the candidate cutting line via the current vertex is discarded.

For example, if the current vertex is activated zero times, the candidate cutting line via the current vertex intersects the outer contour of the concave work area at at least two intersection points other than the current vertex, and at least two intersection points are located at the current vertex in the direction of the candidate cutting line On the same side of the current vertex, the candidate cutting line passing through the current vertex is discarded.

For example, if the current vertex is activated zero times, the candidate cutting line via the current vertex intersects the outer contour of the concave work area at at least two intersections other than the current vertex, and at least two intersections are located at the current vertex in the direction of the candidate cutting line on both sides, the candidate cutting line passing through the current vertex will be used as the cutting line.

For example, if the current vertex is activated once, and in the extension direction of the candidate cutting line, the current vertex is closer to the centerline of the outer contour of the concave working area in the direction perpendicular to the candidate cutting line than the two vertices connected to the current vertex. The candidate cutting line via the current vertex is used as the cutting line.

For example, if the current vertex is activated twice and there is no intersection between the candidate cutting line via the current vertex and the outer contour of the concave work area other than the current vertex, the candidate cutting line via the current vertex is discarded.

For example, if the current vertex is activated twice, the candidate cut line via the current vertex intersects the outer contour of the concave work area at at least two intersection points other than the current vertex, and at least two intersection points are located at the current vertex in the direction of the candidate cut line On the same side of the current vertex, the candidate cutting line passing through the current vertex is discarded.

For example, if the current vertex is activated twice, the candidate cutting line via the current vertex intersects the outer contour of the concave working area at least two intersection points other than the current vertex, and the current vertex in the direction of the candidate cutting line is located at two Between the intersection points, the candidate cutting line is used as the cutting line.

For example, for a polygonal outer contour, a candidate cutting line passing through a vertex of the polygonal outer contour is used as the cutting line.

For example, keep one of the overlapping candidate cutting lines.

For example, keep one of the overlapping cut lines.

In some embodiments, connecting the reference paths corresponding to each convex sub-area to generate a target path for the movable platform to operate in the work area may include the following operations. First, a respective subgoal path for each convex subregion is generated. Then, the respective sub-target paths of each convex sub-area are connected to generate the target path of the movable platform in the concave work area.

First, multiple reference paths parallel to each other are generated based on the direction of the cutting line, and the distance between two adjacent reference paths is related to the working radius of the movable platform.

In some embodiments, generating the respective sub-target paths for the convex sub-regions may include the following operations. First, a turning path for the outer contour of each convex sub-region is generated. Then, for each of the convex sub-regions, the reference path of the convex sub-region and the turning path for the outer contour of the convex sub-region are connected to obtain a sub-target path of the convex sub-region.

In some embodiments, searching the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region may include the following operations, repeating the following operations until the candidate target paths under each connection mode are determined: for one connection mode , determine the respective entrance or exit of each convex sub-region in this connection mode, so that the target path is the shortest in this connection mode. For example, compare candidate target paths under each connection mode. Then, the connection mode of the convex sub-regions corresponding to the candidate target path with the shortest path length and the respective entrance or exit of each convex sub-region are obtained.

In certain embodiments, the concave work area further includes an obstacle area. Correspondingly, after repeating the following operations until the candidate target paths under each connection mode are determined, when the computer program is executed by the processor, the computer program also realizes: first, determine each connection based on the connection mode and the respective entrance or exit of each convex sub-region. Convex subregion connection path in mode. Then, if the connecting path of the convex sub-region overlaps the obstacle region, it is determined that the connecting manner corresponding to the connecting path of the convex sub-region is unsafe, so as to remove the unsafe connecting manner.

In some embodiments, there is an angle between the direction of the cutting line and the specified direction. Accordingly, cutting the concave working area of the movable platform into a plurality of convex sub-areas may include the following operations. First, rotate the coordinate system where the outer contour of the concave working area is located based on the included angle, so that the coordinate axis of the coordinate system is consistent with or perpendicular to the specified direction. Then, the concave working area is cut into a plurality of convex sub-areas each having an outer contour of a convex polygon based on a cutting line consistent with the designated direction.

In some embodiments, after the reference paths corresponding to each convex sub-area are connected to generate a target path of the movable platform when the movable platform operates in the work area, the computer program may further implement the following operations when executed by the processor. Based on the coordinate system where the outer contour of the concave working area is reversely rotated based on the included angle, the target path of the movable platform for the restored concave working area is obtained.

In some embodiments, at least one of the concave work area outer contour and the polygonal outer contour is input by the user.

As shown in FIG. 18 , the above-described apparatus 1800 may include one or more processors 1810 and a computer-readable storage medium 1820 .

The computer-readable storage medium 1820 is used for storing one or more computer programs 1821. When the computer programs 1821 are executed by the processor, the following operations can be implemented.

First, a plurality of convex sub-regions and respective sub-target paths of the plurality of convex sub-regions are determined.

Then, the respective sub-goal paths of each convex sub-region are connected to generate a goal path such that the goal path is the shortest.

In some embodiments, searching for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region may include the following operations: repeating the following operations until candidate target paths under each connection mode are determined: for one connection mode , determine the respective entrance or exit of each convex sub-region in this connection mode, so that the target path is the shortest in this connection mode. For example, the candidate target paths under each connection mode are compared; the connection mode of the convex sub-region corresponding to the candidate target path with the shortest path length and the respective entrance or exit of each convex sub-region are obtained.

In some embodiments, the computer program, when executed by the processor, further implements: determining a plurality of obstacle regions. After repeating the following operations until the candidate target paths in each connection mode are determined, the convex sub-region connection path in each connection mode is determined based on the connection mode and the respective entrance or exit of each convex sub-region. If the connection path of the convex sub-region overlaps with the obstacle region, it is determined that the connection method corresponding to the connection path of the convex sub-region is unsafe, so as to remove the unsafe connection method.

In some embodiments, the respective sub-target paths of the convex sub-regions may be determined by: generating multiple reference paths that are consistent with the specified direction or the current moving direction of the movable platform, and the two adjacent reference paths are The distance between them is related to the working radius of the movable platform. Then, use the outer contour of each convex sub-region to cut the reference path to generate the reference path of the movable platform in each convex sub-region, so as to generate the respective sub-target path of the movable platform in each convex sub-region.

In some embodiments, the control terminal is provided on a movable platform. For example, the control terminal and movable pan are integrated. For the specific content, refer to the same part of the previous embodiment, which will not be repeated here.

The embodiments of the present application also provide a computer program product, which includes a computer program, the computer program includes program codes for executing the methods provided by the embodiments of the present application, when the computer program product runs on an electronic device, the The program code is used to enable the electronic device to implement the image model training method or the image processing method provided by the embodiments of the present application.

When the computer program is executed by the processor, the above-mentioned functions defined in the system/device of the embodiments of the present application are executed. According to the embodiments of the present application, the systems, apparatuses, modules, units, etc. described above may be implemented by computer program modules.

In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed in the form of a signal over a network medium, and downloaded and installed through the communication portion, and/or installed from a removable medium. The program code embodied by the computer program may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

According to the embodiments of the present application, the program code for executing the computer program provided by the embodiments of the present application may be written in any combination of one or more programming languages. programming language, and/or assembly/machine language to implement these computational programs. Programming languages include, but are not limited to, languages such as Java, C++, python, "C" or similar programming languages. The program code may execute entirely on the user computing device, partly on the user device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).

The above are the best embodiments of the present application, and it should be noted that the best embodiments are only used for understanding the present application, and are not used to limit the protection scope of the present application. In addition, the features in the preferred embodiment, unless otherwise specified, are applicable to both the method embodiment and the device embodiment, and the technical features appearing in the same or different embodiments can be used without conflicting with each other. used in combination.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, rather than limiting them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application. .

Claims

A path planning method for planning a target path of a movable platform, characterized in that the method comprises:

cutting the concave working area of the movable platform into a plurality of convex sub-areas;

determining a reference path of the movable platform corresponding to each convex sub-area, and the direction of the reference path is parallel to the direction of the cutting line cutting the working area;

The reference paths corresponding to each convex sub-area are connected to generate a target path of the movable platform when the movable platform operates in the work area.
The method according to claim 1, wherein the cutting the concave working area of the movable platform into a plurality of convex sub-areas comprises:

generating respective candidate cutting lines passing through a plurality of vertices of the outer contour of the concave working area, where the extending direction of the candidate cutting lines is a specified direction or the current moving direction of the movable platform;

The concave working area is cut into a plurality of convex sub-areas each having a convex polygonal outer contour based on a first preset cutting rule and at least one cutting line determined from the candidate cutting lines .
The method according to claim 2, wherein the number of the convex sub-regions is a minimum value of the number of convex sub-regions into which the concave working region can be decomposed.
The method according to claim 2, wherein the first preset cutting rule is used to cut the concave working area into a plurality of pieces each having a convex shape based on a cutting line passing through a concave vertex of the concave working area The convex subregion of the polygon's outer contour.
The method according to claim 2, wherein the concave working area further includes an obstacle area, and the polygonal outer contour of the obstacle area serves as the polygonal inner contour of the concave working area.
The method according to claim 5, wherein the cutting the concave working area of the movable platform into a plurality of convex sub-areas comprises:

determining the respective candidate cutting lines via the outer contour of the concave working area and a plurality of vertices of the polygon outer contour, and the extending direction of the candidate cutting lines is the designated direction or the current moving direction of the movable platform;

Based on the second preset cutting rule and at least one cutting line, the area between the outer contour of the concave working area and the outer contour of the polygon is divided into a plurality of convex sub-areas each having a convex polygon outer contour, at least one of the Cut lines are determined from the candidate cut lines.
The method according to claim 6, wherein the number of the convex sub-regions is the number of the convex polygonal outer contour that can be decomposed into the outer contour of the concave working region and the region between the polygonal outer contour Minimum number of counts.
The method according to claim 6, wherein the second preset cutting rule is based on a first candidate cutting line passing through a concave vertex of the concave working area and a cutting line passing through each vertex of the polygon outer contour. The second candidate cutting line divides the area between the outer contour of the concave working area and the outer contour of the polygon into a plurality of convex sub-areas each having the outer contour of a convex polygon.
The method of claim 1, wherein the target paths include respective switching paths for the convex sub-regions, such that the movable platform can move to an adjacent reference of the current reference path based on the switching paths path.
The method according to claim 1, wherein the connecting the reference paths corresponding to each convex sub-area to generate the target path of the movable platform when working in the working area comprises:

Determine the connection order between each convex subregion;

Determine the respective entrance and exit of each convex sub-region based on the connection sequence, and generate a respective sub-target path for each convex sub-region based on the respective entrance and exit of each convex sub-region;

Based on the connection sequence and the respective entrances and exits of each convex sub-area, the respective sub-target paths of each convex sub-area are connected to generate a target path of the movable platform in the concave working area.
The method according to claim 10, wherein the determining the reference path of the movable platform corresponding to each convex sub-region comprises:

Generate a plurality of reference paths parallel to each other based on the direction of the cutting line, and the distance between two adjacent reference paths is related to the working radius of the movable platform;

The reference path is cut using the outer contour of each of the convex sub-regions, so as to generate a reference path for each of the convex sub-regions, so as to generate respective sub-target paths of the convex sub-regions.
The method according to claim 11, wherein the generating the respective sub-target paths of the convex sub-regions comprises:

generating a turning path for the respective outer contour of each of the convex sub-regions;

For each of the convex sub-regions, the reference path of the convex sub-region and the turning path for the outer contour of the convex sub-region are connected to obtain a sub-target path of the convex sub-region.
The method according to claim 10, wherein the connecting the respective sub-target paths of each convex sub-region to generate the target path of the movable platform in the concave working region comprises:

Search for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region, where the respective entrance or exit of the convex sub-region is located between the reference path of the convex sub-region and the convex sub-region. An intersection of the outer contour of the sub-region;

The target path of the movable platform in the concave working area is generated based on the connection with the convex sub-areas and the respective entrances or exits of the convex sub-areas, so that the target path is the shortest.
The method according to claim 13, wherein the searching for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region comprises:

Repeat the following operations until the candidate target paths under each connection mode are determined: for a connection mode, determine the respective entrance or exit of each of the convex sub-regions under the connection mode, so that the target path is the shortest under the connection mode ;

Compare the candidate target paths under each connection mode;

The connection mode of the convex sub-regions corresponding to the candidate target path with the shortest path length and the respective entrances or exits of the convex sub-regions are obtained.
The method of claim 14, wherein the concave working area further comprises an obstacle area;

After repeating the following operations until the candidate target paths in each connection mode are determined, the method further includes:

Determine the connection path of the convex sub-region under each connection mode based on the connection mode and the respective inlet or outlet of each of the convex sub-regions;

If the connection path of the convex sub-region overlaps the obstacle region, it is determined that the connection manner corresponding to the connection path of the convex sub-region is unsafe, so as to remove the unsafe connection manner.
The method according to claim 1, wherein there is an included angle between the direction of the cutting line and the specified direction;

The cutting the concave working area of the movable platform into a plurality of convex sub-areas includes:

Rotate the coordinate system where the outer contour of the concave working area is located based on the included angle, so that the coordinate axis of the coordinate system is consistent with or perpendicular to the specified direction;

The concave working area is cut into a plurality of convex sub-areas each having an outer contour of a convex polygon based on a cutting line consistent with the designated direction.
The method according to claim 16, wherein after the connecting the reference paths corresponding to each convex sub-area to generate the target path of the movable platform when working in the work area, the method further comprises:

Reversely rotate the coordinate system where the outer contour of the concave working area is located based on the included angle, so as to obtain the target path of the movable platform for the restored concave working area.
The method of claim 2, wherein at least one of the concave working area outer contour and the polygonal outer contour is input by a user.
A path planning method for planning a target path of a movable platform, characterized in that the method comprises:

determining a plurality of convex sub-regions and respective sub-target paths of the plurality of convex sub-regions;

The respective sub-target paths of each convex sub-region are connected to generate the target paths such that the target paths are the shortest.
The method according to claim 19, wherein the connecting the respective sub-target paths of each convex sub-region to generate the target path, so that the target path is the shortest, comprises:

Search for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region, where the respective entrance or exit of the convex sub-region is located between the reference path of the convex sub-region and the convex sub-region. An intersection of the outer contour of the sub-region;

The target path of the movable platform in the concave work area is generated based on the connection with the convex sub-areas and the respective entrances or exits of the convex sub-areas, so that the target path is the shortest, and the concave work area Each of the convex sub-regions is included.
The method according to claim 20, wherein the searching for the connection mode of each of the convex sub-regions and the respective entrance or exit of each of the convex sub-regions comprises:

Repeat the following operations until the candidate target paths under each connection mode are determined: for a connection mode, determine the respective entrance or exit of each of the convex sub-regions under the connection mode, so that the target path is the shortest under the connection mode ;

Compare the candidate target paths under each connection mode;

The connection mode of the convex sub-regions corresponding to the candidate target path with the shortest path length and the respective entrances or exits of the convex sub-regions are obtained.
The method of claim 21, wherein the method further comprises:

Identify multiple obstacle areas;

After the following operations are repeated until the candidate target paths in each connection mode are determined, based on the connection mode and the respective entrance or exit of each of the convex sub-regions, the connection paths of the convex sub-regions in each connection mode are determined;

If the connection path of the convex sub-region overlaps the obstacle region, it is determined that the connection manner corresponding to the connection path of the convex sub-region is unsafe, so as to remove the unsafe connection manner.
The method according to claim 19, wherein the respective sub-target paths of the convex sub-regions are determined in the following manner:

generating a plurality of reference paths consistent with the specified direction or the current moving direction of the movable platform, and the distance between two adjacent reference paths is related to the working radius of the movable platform;

Cut the reference path by using the outer contour of each convex sub-region to generate a reference path of the movable platform in each convex sub-region, so as to generate the movable platform in each convex sub-region respective sub-target paths.
A path planning device for planning a target path of a movable platform, characterized in that the device includes:

one or more processors;

A computer-readable storage medium for storing one or more computer programs that, when executed by the processor, implement:

cutting the concave working area of the movable platform into a plurality of convex sub-areas;

determining a reference path of the movable platform corresponding to each convex sub-area, and the direction of the reference path is parallel to the direction of the cutting line cutting the working area;

The reference paths corresponding to each convex sub-area are connected to generate a target path of the movable platform when the movable platform operates in the work area.
The device according to claim 24, wherein the cutting the concave working area of the movable platform into a plurality of convex sub-areas comprises:

generating respective candidate cutting lines passing through a plurality of vertices of the outer contour of the concave working area, where the extending direction of the candidate cutting lines is a specified direction or the current moving direction of the movable platform;

The concave working area is cut into a plurality of convex sub-areas each having a convex polygonal outer contour based on a first preset cutting rule and at least one cutting line determined from the candidate cutting lines .
The device according to claim 25, wherein the number of the convex sub-regions is the minimum value of the number of convex sub-regions into which the concave working region can be decomposed.
26. The apparatus of claim 25, wherein the first preset cutting rule is used to cut the concave working area into a plurality of pieces each having a convex shape based on a cutting line passing through a concave vertex of the concave working area The convex subregion of the polygon's outer contour.
The device according to claim 25, wherein the concave working area further comprises an obstacle area, and the polygonal outer contour of the obstacle area serves as the polygonal inner contour of the concave working area.
The device according to claim 28, wherein the cutting the concave working area of the movable platform into a plurality of convex sub-areas comprises:

determining the respective candidate cutting lines via the outer contour of the concave working area and a plurality of vertices of the polygon outer contour, and the extending direction of the candidate cutting lines is the designated direction or the current moving direction of the movable platform;

Based on the second preset cutting rule and at least one cutting line, the area between the outer contour of the concave working area and the outer contour of the polygon is divided into a plurality of convex sub-areas each having a convex polygon outer contour, at least one of the Cut lines are determined from the candidate cut lines.
The device according to claim 29, wherein the number of the convex sub-regions is the number of convex polygonal outer contours that can be decomposed into the outer contour of the concave working region and the region between the polygonal outer contour Minimum number of counts.
29. The apparatus of claim 29, wherein the second preset cutting rule is based on a first candidate cutting line passing through a concave vertex of the concave working area and a cutting line passing through each vertex of the polygonal outer contour. The second candidate cutting line divides the area between the outer contour of the concave working area and the outer contour of the polygon into a plurality of convex sub-areas each having an outer contour of a convex polygon.
25. The apparatus of claim 24, wherein the target path includes a switching path for each of the convex sub-regions, such that the movable platform can move to an adjacent reference of the current reference path based on the switching path path.
The device according to claim 24, wherein the connecting the reference paths corresponding to each convex sub-area to generate the target path of the movable platform when working in the working area comprises:

Generate respective sub-goal paths for each convex sub-region;

The respective sub-target paths of each convex sub-area are connected to generate a target path of the movable platform in the concave working area.
The apparatus according to claim 33, wherein the determining the reference path of the movable platform corresponding to each convex sub-region comprises:

Generate a plurality of reference paths parallel to each other based on the direction of the cutting line, and the distance between two adjacent reference paths is related to the working radius of the movable platform;

The reference path is cut using the outer contour of each of the convex sub-regions, so as to generate a reference path for each of the convex sub-regions, so as to generate respective sub-target paths of the convex sub-regions.
The apparatus according to claim 34, wherein the generating the respective sub-target paths of the convex sub-regions comprises:

generating a turning path for the respective outer contour of each of the convex sub-regions;

For each of the convex sub-regions, the reference path of the convex sub-region and the turning path for the outer contour of the convex sub-region are connected to obtain a sub-target path of the convex sub-region.
The apparatus according to claim 33, wherein the connecting the respective sub-target paths of each convex sub-area to generate the target path of the movable platform in the concave working area comprises:

Search for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region, where the respective entrance or exit of the convex sub-region is located between the reference path of the convex sub-region and the convex sub-region. An intersection of the outer contour of the sub-region;

The target path of the movable platform in the concave working area is generated based on the connection with the convex sub-areas and the respective entrances or exits of the convex sub-areas, so that the target path is the shortest.
The device according to claim 33, wherein the searching for the connection mode of each convex sub-region and the respective inlet or outlet of each convex sub-region comprises:

Repeat the following operations until the candidate target paths under each connection mode are determined: for a connection mode, determine the respective entrance or exit of each of the convex sub-regions under the connection mode, so that the target path is the shortest under the connection mode :

Compare the candidate target paths under each connection mode;

The connection mode of the convex sub-regions corresponding to the candidate target path with the shortest path length and the respective entrances or exits of the convex sub-regions are obtained.
The apparatus of claim 37, wherein the concave working area further comprises an obstacle area;

After the following operations are repeated until the candidate target paths in each connection mode are determined, the computer program, when executed by the processor, further implements:

Determine the connection path of the convex sub-region under each connection mode based on the connection mode and the respective inlet or outlet of each of the convex sub-regions;

If the connection path of the convex sub-region overlaps the obstacle region, it is determined that the connection manner corresponding to the connection path of the convex sub-region is unsafe, so as to remove the unsafe connection manner.
The device according to claim 24, wherein there is an included angle between the direction of the cutting line and the specified direction;

The cutting the concave working area of the movable platform into a plurality of convex sub-areas includes:

Rotate the coordinate system where the outer contour of the concave working area is located based on the included angle, so that the coordinate axis of the coordinate system is consistent with or perpendicular to the specified direction;

The concave working area is cut into a plurality of convex sub-areas each having an outer contour of a convex polygon based on a cutting line consistent with the designated direction.
39. The apparatus according to claim 39, wherein, after the connecting the reference paths corresponding to each convex sub-area to generate the target path of the movable platform when working in the work area, the computer program When executed by the processor, it also implements:

Reversely rotate the coordinate system where the outer contour of the concave working area is located based on the included angle, so as to obtain the target path of the movable platform for the restored concave working area.
25. The apparatus of claim 24, wherein at least one of the concave working area outer contour and the polygonal outer contour is input by a user.
A path planning device for planning a target path of a movable platform, characterized in that the device includes:

one or more processors;

A computer-readable storage medium for storing one or more computer programs that, when executed by the processor, implement:

determining a plurality of convex sub-regions and respective sub-target paths of the plurality of convex sub-regions;

The respective sub-target paths of each convex sub-region are connected to generate the target paths such that the target paths are the shortest.
The apparatus according to claim 42, wherein the connecting the respective sub-target paths of each convex sub-region to generate the target path, so that the target path is the shortest, comprises:

Search for the connection mode of each convex sub-region and the respective entrance or exit of each convex sub-region, where the respective entrance or exit of the convex sub-region is located between the reference path of the convex sub-region and the convex sub-region. An intersection of the outer contour of the sub-region;

The target path of the movable platform in the concave work area is generated based on the connection with the convex sub-areas and the respective entrances or exits of the convex sub-areas, so that the target path is the shortest, and the concave work area Each of the convex sub-regions is included.
The device according to claim 43, wherein the searching for the connection mode of each of the convex sub-regions and the respective entrances or exits of each of the convex sub-regions comprises:

Repeat the following operations until the candidate target paths under each connection mode are determined: for a connection mode, determine the respective entrance or exit of each of the convex sub-regions under the connection mode, so that the target path is the shortest under the connection mode ;

Compare the candidate target paths under each connection mode;

The connection mode of the convex sub-regions corresponding to the candidate target path with the shortest path length and the respective entrances or exits of the convex sub-regions are obtained.
The apparatus of claim 44, wherein the computer program, when executed by the processor, further implements:

Identify multiple obstacle areas;

After the following operations are repeated until the candidate target paths in each connection mode are determined, based on the connection mode and the respective entrance or exit of each of the convex sub-regions, the connection paths of the convex sub-regions in each connection mode are determined;

If the connection path of the convex sub-region overlaps the obstacle region, it is determined that the connection manner corresponding to the connection path of the convex sub-region is unsafe, so as to remove the unsafe connection manner.
The device according to claim 42, wherein the respective sub-target paths of the convex sub-regions are determined in the following manner:

generating a plurality of reference paths consistent with the specified direction or the current moving direction of the movable platform, and the distance between two adjacent reference paths is related to the working radius of the movable platform;

Cut the reference path by using the outer contour of each convex sub-region to generate a reference path of the movable platform in each convex sub-region, so as to generate the movable platform in each convex sub-region respective sub-target paths.
A computer-readable storage medium, characterized in that it stores executable instructions, and when executed by one or more processors, the executable instructions can cause the one or more processors to execute as claimed in claim 1 A method as claimed in any one of claims 19 to 18, or performing a method as claimed in any one of claims 19 to 23.