Path planning method, device and system

Abstract

A path planning method, device and system. The method comprises: generating a reference path according to reference information input by a user (S202), then determining a target operation object from the operation objects according to the relative position relationship between each operation object and the reference path in the operation area (S204), then sorting the target operation objects so as to generate a target path according to the position of the sorted target operation objects (S206), and executing the operation task according to the target path. By generating the target path through the reference information input by the user, the user can customize the operation path according to the needs of the actual operation scene, and the adjustment of the operation path is relatively flexible, which can meet the needs of the user in different scenes.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a path planning method, device and system. Background Art

[0002] At present, in many fields, mobile platforms can be used to replace manual labor to complete some work tasks. For example, drones can be used to take photos and inspect power line equipment, drones can be used to spray crops with pesticides, or unmanned vehicles can be used to water trees. Before using these mobile platforms to perform work tasks, it is necessary to pre-plan the work path of the mobile platform so that the mobile platform can perform the work tasks according to the path. When determining the work path of the mobile platform in related technologies, users cannot independently define the work path, which has poor flexibility and cannot meet the needs of users in different work scenarios. Summary of the invention

[0003] In view of this, the present application provides a path planning method, device and system.

[0004] According to a first aspect of the present application, a path planning method is provided, the method comprising:

[0005] Generate a reference path according to the reference information input by the user;

[0006] Determine a target operation object among the operation objects according to a relative position relationship between each operation object and the reference path in the operation area;

[0007] The target operation objects are sorted to generate a target path based on the sorted target operation objects.

[0008] According to a second aspect of the present application, a path planning device is provided, characterized in that the device includes a processor, a memory, and a computer program executable by the processor stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0009] Generate a reference path according to the reference information input by the user;

[0010] Determine a target operation object among the operation objects according to a relative position relationship between each operation object and the reference path in the operation area;

[0011] The target operation objects are sorted to generate a target path based on the sorted target operation objects.

[0012] According to a third aspect of the present application, a path planning system is provided, characterized in that it includes a movable platform and a control terminal,

[0013] The control terminal is used to generate a reference path according to reference information input by a user, determine a target operation object among the operation objects according to a relative position relationship between each operation object in the operation area and the reference path, sort the target operation objects to generate a target path based on the sorted target operation objects, and send the target path to the movable platform;

[0014] The movable platform is used to perform a work task according to the target path.

[0015] By applying the solution provided by the present application, a reference path can be generated according to the reference information input by the user, and then the target operation object can be determined from the operation objects according to the relative position relationship between each operation object and the reference path in the operation area, and then the target operation objects can be sorted so as to generate a target path according to the position of the sorted target operation object, and enable the movable platform to perform the operation task according to the target path. By generating the target path through the reference information input by the user, the user can customize the operation path according to the needs of the actual operation scene, and the determination of the operation path is relatively flexible, which can meet the needs of users in different scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0017] FIG1( a ) is a schematic diagram of an embodiment of the present application using a drone to take photos and inspect a bridge.

[0018] FIG1( b ) is a schematic diagram of an embodiment of the present application using a drone to spray pesticides on fruit trees.

[0019] Figure 2 It is a flow chart of a path planning method according to an embodiment of the present application.

[0020] Figure 3 This is a schematic diagram of generating a reference path based on reference points input by a user on a map according to an embodiment of the present application.

[0021] FIG. 4( a ) is a schematic diagram of generating a reference path based on reference points according to an embodiment of the present application.

[0022] FIG4( b ) is a schematic diagram of generating a reference path based on reference points according to an embodiment of the present application.

[0023] Figure 5 It is a schematic diagram of generating a search area according to a search radius and a reference path according to an embodiment of the present application.

[0024] Figure 6 It is a schematic diagram of generating a target path by sorting target job objects according to an embodiment of the present application.

[0025] Figure 7 It is a schematic diagram of an application scenario of an embodiment of the present application.

[0026] Figure 8 It is a schematic diagram of the logical structure of a path planning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] At present, many intelligent mobile platforms can be used to replace manual labor to complete some work tasks. For example, drones can be used to take photos and inspect power equipment, bridges, etc. to detect whether there are faults in the equipment or bridges, or drones can be used to spray or irrigate crops, and unmanned vehicles or unmanned robots can be used to irrigate trees, etc. As shown in Figure 1(a), it is a schematic diagram of using drones to take photos and inspect certain specific locations of bridges (such as A, B, and C in the figure). As shown in Figure 1(b), it is a schematic diagram of using drones to spray drugs on fruit trees. Before using a mobile platform to perform a work task, the work path can be planned first so that the mobile platform can perform the work task according to the work path. Taking drones spraying drugs on crops as an example, it is necessary to first determine the location of the crops to be sprayed by the drone, as well as the order in which the drone sprays these crops, and form the drone's work path. In the related art, when determining the work path of the mobile platform, the user cannot independently define the work path, the flexibility is low, and it cannot meet the user's needs for various work scenarios.

[0029] Based on this, the present application provides a path planning method that enables users to independently define the operation path of a movable platform. Figure 2 As shown, the path planning method includes the following steps:

[0030] S202, generating a reference path according to the reference information input by the user;

[0031] S204, determining a target operation object among the operation objects according to a relative position relationship between each operation object in the operation area and the reference path;

[0032] S206: Sorting the target operation objects to generate a target path based on the sorted target operation objects.

[0033] The path planning method of the present application can be used for operation path planning of various movable platforms when performing various operation tasks such as crop watering, crop pesticide spraying, photo inspection, etc. The movable platform can be an intelligent movable device such as a drone, an unmanned vehicle, or an unmanned robot. The operation object of the present application can be crops or trees to be watered or sprayed with pesticides, or it can be power equipment to be photographed and inspected, or a specific part of a bridge to be photographed and inspected, etc., and the present application does not limit it. In some embodiments, the operation object can be crops, and the movable platform can be a drone, and the drone is used to spray or water the crops.

[0034] Usually, a mobile platform can be controlled by a control terminal, and the control terminal can control the moving path, moving state, and operation state of the mobile platform. The path planning method of the present application can be used for the control terminal corresponding to the mobile platform, and the control terminal can be various electronic devices that can communicate with the mobile platform, such as a remote control supporting the mobile platform, a user's mobile phone, a tablet, a smart watch, and other terminals. In some embodiments, the control terminal may include a path planning device, and the path planning device may be an application (APP) installed on the control terminal, and the path planning operation is performed through the APP.

[0035] Usually, before a mobile platform performs a task, it can survey the task execution area and collect images or geospatial data of the area. The mobile platform or control terminal can generate a map depicting the overall picture of the area based on the collected images or geospatial data, such as a digital surface model (DSM) map, a two-dimensional map, or a three-dimensional map. The user can select the scope of the mobile platform's operation area based on the map and determine the operation path of the mobile platform. In addition, the objects in the image can be identified based on the collected images and machine learning algorithms to generate a semantic image of the area. The categories of various objects in the area are marked in the semantic image, and the operation objects in the area can be identified based on the semantic image.

[0036] In order to realize the user's self-definition and planning of the operation path of the movable platform, the present application can allow the user to independently input the reference information of the operation path. For example, the user can determine the expected operation path based on the generated map, and input the corresponding reference information according to the expected operation path. Then generate the reference path according to the reference information input by the user, and determine the target operation object from the operation object according to the relative position relationship between each operation object and the reference path in the operation area pre-selected by the user. The target operation object is the operation object to be operated at the current time. Then sort the target operation object so as to generate the target path when the movable platform performs the operation task according to the position of the target operation object after sorting. Among them, the target operation object can be determined by the control terminal side, and the target operation object can be sorted and sent to the movable platform, and the movable platform generates the target path according to the sorted target operation object, or the control terminal can generate the target path and then send it to the movable platform, and the present application does not limit it.

[0037] By planning the target path for the mobile platform to perform the work task based on the reference information input by the user, the planning of the work path can be made more flexible, and the user can define the work path independently according to actual needs to meet the needs of different work scenarios.

[0038] The reference information may be information such as reference points and reference lines input by the user according to the expected working path, wherein, in some embodiments, the user may directly input the coordinate information of the reference points or reference lines to generate a reference path. Of course, in some embodiments, if the control terminal includes a human-computer interaction interface, in order to allow the user to more intuitively see the distribution of the working objects in the working area and facilitate the user to input reference information, before generating the reference path, a human-computer interaction interface may be provided to the user. The human-computer interaction interface may include a map corresponding to the working area, which may be a two-dimensional map or a three-dimensional map. The user may directly determine the reference points or reference lines on the map to generate a reference path. For example, the user may use a dotting method to click on several reference points on the map according to the expected working path, and then generate a reference path based on the reference points. Of course, the user may directly draw a reference line on the map according to the expected working path, and then generate a reference path based on the reference line drawn by the user. The reference path may be in various forms such as a straight line, a curve or a broken line, and may be flexibly set according to actual needs, and this application does not impose any restrictions. For example Figure 3 As shown, it is a schematic diagram of reference path generation in one embodiment of the present application. The schematic diagram is a scene of determining the operation path when using a drone to spray drugs on trees. The reference path can be generated according to the reference point selected by the user on the map (such as the white dot in the figure).

[0039] Of course, in some embodiments, when generating a reference path based on the reference points determined by the user on the map, the reference points selected by the user can be connected in sequence according to the order in which the user points, to generate a reference path. As shown in FIG4(a), each point is a reference point selected by the user, and the number corresponding to each point indicates the order in which the user points. The reference points can be connected in sequence according to the order in which the points are made to generate a reference path. Of course, in some embodiments, in order to avoid the situation in which the final path has many round trips, after the user points, the reference points can be connected in sequence according to the distance of each reference point to obtain a reference path with the shortest distance and a relatively optimized path. As shown in FIG4(b), each point is a reference point selected by the user, and the number of each point indicates the order in which the user points. The reference points can be connected in sequence according to the distance of the reference points to obtain a reference path. Of course, after the user determines the reference point or reference line on the map, the control terminal can also perform a preliminary evaluation on the generated reference path. If the path has many reversals or there are other defects in the path, a pop-up window can be set to prompt the user so that the user can update or modify the reference path.

[0040] In one embodiment, the semantic image can be combined to identify the work objects in the work area, for example, trees to be watered, power equipment to be photographed, etc. Then, the target work object is determined according to the relative position relationship between each work object and the reference path. The target work object can be a work object on the reference path or near the reference path, for example, a work object whose distance from the reference path is less than a certain threshold, or a work object within a certain range around the reference path.

[0041] In some embodiments, when determining the target operating object based on the relative position relationship between the operating object and the reference path in the operating area, the search area can be first determined in the operating area based on the reference path and the search radius, and then the operating object located in the search area is determined as the target operating object. Figure 5 As shown, the user selects a reference point on the map (such as the white point 51 in the figure), and then generates a reference path 52 based on the reference point. A polygonal area 53 can be determined based on the search radius R and the reference path 52. The polygonal area 53 is the search area, and all trees in the search area are target operation objects to be sprayed. In some embodiments, after the search area is determined, the determined search area can be displayed on the map of the user interaction interface and the determined target operation objects can be marked, so that the user can determine whether it meets expectations based on the displayed search area and the determined target operation objects, whether the reference path needs to be adjusted, etc.

[0042] The search radius can be preset or determined in real time. For example, in some embodiments, the search radius can be determined based on the size of the work object, and then the search area can be determined based on the search radius and the reference path. Taking the scenario of spraying trees with pesticides by unmanned personnel as an example, the trees are usually distributed in a certain order, such as Figure 5 As shown, if only a row of trees needs to be sprayed, the search radius can be determined according to the width of a tree. For example, the search radius can be set to half the tree width, so that the search area determined according to the reference path and the search radius basically only includes this row of trees. Of course, if two adjacent rows of trees need to be sprayed each time, the search radius can be set according to the tree width and the distance between the two rows of trees. The search radius can be flexibly set according to actual needs, and this application does not limit it.

[0043] After determining the target operation object that needs to perform the operation task, the target operation object can be sorted. The sorting is to determine the order in which the movable platform performs the operation operation on the target operation object. According to the target operation object after the sorting process, the target path of the drone operation can be determined. In some embodiments, the target operation objects can be sorted according to the distance between the target operation object and the endpoint of the reference path. Among them, the endpoint can be the starting point or the end point of the reference path. For example, the distance between each target operation object and the starting point or the end point of the reference path can be determined, and the target operation objects can be sorted according to the distance. Among them, for each target operation object, a certain point can be selected from the target operation object to represent the position of the target object. For example, the center of the target operation object or the center of other important parts represents the target operation object. It can be determined according to the characteristics of the operation task in the actual scene. Taking the scenario of drones spraying pesticides on trees as an example, drones usually spray pesticides at the center of the tree so that the entire tree can be covered. Therefore, the center of the tree (heart of the tree) can be selected to represent the location of the tree. Of course, if the scene is an unmanned vehicle watering the trees, the trees are usually watered from the side of the tree. Therefore, a point on the side of the tree can be selected to represent the location of the tree.

[0044] In some embodiments, the reference path may include multiple line segments connected in sequence. When sorting the target job objects, the line segments corresponding to the target job objects can be first determined based on the distance between each target job object and each line segment in the reference path, and then the target job objects can be sorted according to the order of the line segments corresponding to the target job objects.

[0045] In some embodiments, each line segment in the reference path may correspond to one or more target operation objects. When the target operation objects are sorted according to the order of the line segments corresponding to the target operation objects, the target operation objects may be divided into multiple groups according to the distances between the target operation objects and the line segments of the reference path, wherein each group corresponds to a line segment in the reference path, and the distance between the target operation objects in each group and the line segment in the reference path corresponding to the group is the shortest. Then, the target operation objects in each group may be sorted, and the target operation objects may be sorted according to the order of the line segments of the reference path corresponding to each group and the order of the target operation objects in the group.

[0046] In some embodiments, when sorting the target work objects in each group, the foot of the perpendicular of each target work object in each group on the line segment of the reference path corresponding to the group can be determined first, and then the target work objects in the group can be sorted according to the distance between the foot of the perpendicular of each target work object and the endpoint of the reference path. Of course, the target work objects can also be sorted according to the distance between each target work object in the group and the endpoint of the line segment corresponding to the group.

[0047] For example, Figure 6 As shown in the figure, the circular point in the figure represents the reference point determined by the user, the triangular point represents the position of the tree heart, and the dotted line 61 in the figure is a reference path generated according to the reference point. The reference path includes line segments ①, ②, and ③ connected in sequence. Each line segment can correspond to a group. The distance between the tree heart of the tree AI in the search area and line segments ①, ②, and ③ can be determined first, and then the tree AI is divided into the group corresponding to the closest line segment, such as tree AC is divided into the group corresponding to line segment ①, tree DF is divided into the group corresponding to line segment ②, and tree GI is divided into the group corresponding to line segment ③. Then, the tree hearts in each group are sorted respectively, and the foot of the perpendicular from the tree heart of each group to the line segment corresponding to the group can be determined, and then the distance between each foot of the perpendicular and the end point of the reference path is determined, and then the order of the distance from near to far is sorted, so as to determine the sorting order of the tree hearts in each group, and then the tree heart AI can be sorted again according to the order of the line segments to obtain the final sorting result, and finally the target path can be obtained according to the position of the sorted tree heart AI, as shown in the solid line 62 in the figure.

[0048] Of course, the method of sorting the target job objects is not limited to the methods listed in this application, and any method that can sort the target objects is applicable to this application.

[0049] Of course, for some scenarios, the operating height must also be considered when performing operating tasks on the target operating object. For example, when a drone is watering crops and spraying pesticides, a certain spraying distance is required to achieve better results. Therefore, a height can be determined for each tree core position to obtain a three-dimensional target path with height information.

[0050] Of course, there may be some obstacles in the operation scene, such as houses, electric poles, etc. Therefore, when planning the operation path, obstacles need to be avoided. Since different obstacles have different characteristics, when avoiding obstacles, the appropriate obstacle avoidance strategy can be determined according to the type of obstacle. For example, taking the drone performing an operation task as an example, since there may be obstacles such as electric poles and houses in the operation scene, for obstacles with larger volumes such as houses, if the method of bypassing the obstacles is adopted, the drone may need to bypass a longer distance, affecting the operation efficiency. Therefore, the method of flying over the obstacles can be adopted to avoid obstacles. For obstacles with higher heights and smaller volumes such as electric poles, if the method of flying over them is adopted, it will have to fly at a relatively high altitude, which will also affect the operation efficiency. Therefore, the method of bypassing obstacles can be adopted. Among them, the type of obstacle can be determined according to the pre-generated semantic map of the operation area. After determining the obstacle avoidance strategy, the generated target path can be updated according to the obstacle avoidance strategy to obtain the path after obstacle avoidance.

[0051] In some embodiments, the generated target path may have many bends, such as left and right fluctuations in the horizontal direction, or up and down swings in the vertical direction. This will cause the drone to constantly adjust its direction when performing the task, such as sometimes to the left, sometimes to the right, sometimes up, and sometimes down, affecting its operating efficiency. Therefore, in some embodiments, the generated target path can be further smoothed, for example, the path can be smoothed in the horizontal direction or vertical direction respectively. Taking the spraying of drugs on trees by drones as an example, the tree center is usually used as the position of the tree. In actual processing, it is feasible to deviate from the tree center to a certain range, and there is an allowable operating height range when spraying. Therefore, the coordinates of each point in the path can be adjusted in the horizontal direction or vertical direction according to the range of deviation allowed during operation to obtain a smoother operating path.

[0052] In order to further explain the path planning method provided by the present application, it is explained below in conjunction with a specific embodiment.

[0053] Drones are currently widely used in the agricultural field, for example, for spraying or watering fruit trees. In related technologies, when drones spray fruit trees, they automatically sort the fruit trees according to their positions and spacing in the operation area to determine the operation path. This method does not allow users to customize the operation path, is not flexible enough, and cannot meet user needs. Therefore, this embodiment provides a method that can realize user-planned operation paths.

[0054] like Figure 7 As shown, it is a schematic diagram of the application scenario of an embodiment of the present application. The user can install a specified APP on the control terminal 72, communicate with the drone 71 through the control terminal 72, and realize the planning of the operation path.

[0055] When it is necessary to spray the fruit trees with drugs, the drone 71 can first survey the task execution area, collect images and geospatial data of the task execution area, and send them to the control terminal. The control terminal will generate a map and semantic map of the area based on the data collected by the drone, such as a two-dimensional or three-dimensional map, DSM map, etc. The control terminal can display a map of the area to the user. The map can be two-dimensional or three-dimensional. The user can select the work area in the map and select reference points on the map according to the expected work path. The user can click on the map randomly to select a reference point. In order to avoid accidental touches, after receiving the user's instruction to click the screen, a prompt message "Do you want to select this point as a reference point" can be displayed for the user to further confirm. After the user selects the reference point, the selected reference point can be displayed on the map for the user to view. When the user completes the selection of the reference point, the reference points can be connected in sequence according to the distance between the reference points to generate a reference path, such as Figure 3 As shown. Then the search radius can be determined according to the width of the fruit trees. For example, if only one row of fruit trees needs to be sprayed each time, the search radius can be determined as half of the width of the fruit trees. If two rows need to be sprayed, the search radius can be determined according to the spacing between the two rows of fruit trees and the tree width. Then the search area can be determined according to the reference path and the search radius, as shown. Figure 5 The semantic graph and DSM graph can be combined to determine the tree core position of each fruit tree in the operation area, and then determine whether the tree core position is within the search area. If so, the fruit tree is determined as the fruit tree to be sprayed.

[0056] like Figure 3, the reference path can be formed by connecting multiple line segments in sequence. After determining the fruit trees to be sprayed in the operation area, the distance between the tree core of the fruit tree to be sprayed and each line segment in the reference path can be determined, and then the fruit trees to be sprayed can be divided into groups corresponding to the line segments closest to them. For the fruit trees to be sprayed in each group, the foot of the perpendicular between each fruit tree to be sprayed and the line segment corresponding to the group can be determined, and then the distance between the end point of the reference path and each foot of the perpendicular can be determined. According to the order of the distance between the foot of the perpendicular and the end point of the reference path from near to far, the fruit trees in the group are sorted to obtain the sorting result of the fruit trees in the group, and then the sorting order of all the fruit trees to be sprayed is obtained according to the connection order of each line segment in the reference path and the sorting order of the fruit trees in the group.

[0057] After determining the sorting order of the heartwoods of the fruit trees to be sprayed, the height corresponding to the position of each heartwood can also be determined according to the working height during spraying. The working path can be determined according to the position of the heartwoods of the fruit trees to be sprayed, the sorting order and the working height corresponding to each heartwood, and the drug spraying switch can be set according to the position of the fruit trees.

[0058] Since there may be obstacles such as houses and electric poles in the operation area, the types of obstacles in the operation area can be determined in combination with the semantic graph, and a more appropriate obstacle avoidance strategy can be selected according to the obstacle type, and the generated operation path can be updated according to the obstacle avoidance strategy. In order to obtain a smoother operation path, the generated operation path can also be smoothed in the horizontal or vertical direction. By allowing users to customize the operation path, the determination of the operation path can be made more flexible, improving the user experience.

[0059] Accordingly, the present application also provides a path planning device, such as Figure 8 As shown, the device 80 includes a processor 81, a memory 82, and a computer program stored in the memory 82 and executable by the processor 81. When the processor 81 executes the computer program, the following steps are implemented:

[0060] Generate a reference path according to the reference information input by the user;

[0061] Determine a target operation object among the operation objects according to a relative position relationship between each operation object and the reference path in the operation area;

[0062] The target operation objects are sorted to generate a target path based on the sorted target operation objects.

[0063] In some embodiments, before the processor is used to generate a reference path according to the reference information input by the user, it is further used to:

[0064] A human-computer interaction interface is provided, wherein the human-computer interaction interface includes a map corresponding to the operation area, and the reference information includes a reference point or a reference line determined by a user on the map.

[0065] In some embodiments, when the processor is used to determine the target operation object among the operation objects according to the relative position relationship between the operation object and the reference path in the operation area, it is specifically used to:

[0066] determining a search area in the operation area according to the reference path and the search radius;

[0067] The operation object located in the search area is determined as the target operation object.

[0068] In some embodiments, the processor is further configured to:

[0069] The search radius is determined according to the size of the work object.

[0070] In some embodiments, when the processor is used to sort the target job objects, it is specifically used to:

[0071] The target operation objects are sorted according to the distances between the target operation objects and the endpoints of the reference path.

[0072] In some embodiments, the reference path includes a plurality of line segments connected in sequence, and the processor is used to sort the target job objects, specifically to:

[0073] Determine the line segment corresponding to the target operation object according to the distance between the target operation object and each of the line segments;

[0074] The target operation objects are sorted according to the order of the line segments corresponding to the target operation objects.

[0075] In some embodiments, each line segment corresponds to one or more target job objects, and the processor is used to sort the target job objects according to the order of the line segments corresponding to the target job objects, specifically to:

[0076] Divide the target operation object into a plurality of groups, wherein each group corresponds to one of the line segments, and the distance between the target operation object in each group and the line segment corresponding to the group is the shortest;

[0077] Sort the target job objects in each group;

[0078] The target job objects are sorted according to the order of the line segments corresponding to the groups and the order of the target job objects within the groups.

[0079] In some embodiments, when the processor is used to sort the target objects in each group, it is specifically used to:

[0080] Determine the foot of the perpendicular of the target operation object in each group on the line segment corresponding to the group;

[0081] The target operation objects in the group are sorted according to the distance between the endpoint of the reference path or the endpoint of the line segment corresponding to the group and the perpendicular foot.

[0082] In some embodiments, when the processor is used to generate a target path based on the sorted target job objects, it is specifically used to:

[0083] The target path is determined according to the positions and working heights of the sorted target working objects.

[0084] In some embodiments, the processor is further configured to:

[0085] determining the types of obstacles in the operating area;

[0086] An obstacle avoidance strategy is determined according to the type of the obstacle, and the target path is updated according to the obstacle avoidance strategy.

[0087] In some embodiments, the processor is further configured to:

[0088] The target path is smoothed.

[0089] In some embodiments, the work object includes crops.

[0090] Among them, various implementation details of the path planning device for path planning can be referred to the description in the above-mentioned embodiments of the path planning method, and will not be repeated here.

[0091] In addition, the present application also provides a path planning system, the path planning system comprising a movable platform and a control terminal,

[0092] The control terminal is used to generate a reference path according to reference information input by a user, determine a target operation object among the operation objects according to a relative position relationship between each operation object in the operation area and the reference path, sort the target operation objects to generate a target path based on the sorted target operation objects, and send the target path to the movable platform;

[0093] The movable platform is used to perform a work task according to the target path.

[0094] Accordingly, an embodiment of the present specification also provides a computer storage medium, in which a program is stored, and when the program is executed by a processor, the path planning method in any of the above embodiments is implemented.

[0095] The embodiments of this specification may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0096] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0097] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0098] The method and device provided in the embodiments of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A path planning method, It is characterized in that The method comprises: Generate a reference path according to the reference information input by the user; According to the relative position relationship between each operation object in the operation area and the reference path, a plurality of target operation objects to be operated on that are located around the reference path among the operation objects are determined, and the plurality of target operation objects to be operated on are located within a preset distance threshold of the reference path; A target path is generated based on the target work object so that the movable platform can perform the work task based on the target path, wherein the target path can indicate the order in which the movable platform performs the work tasks on the target work object, and the target path can pass through multiple target work objects to be worked on.

2. The method according to claim 1, It is characterized in that Before generating the reference path according to the reference information input by the user, the method further includes: A human-computer interaction interface is provided, wherein the human-computer interaction interface includes a map corresponding to the operation area, and the reference information includes a reference point or a reference line determined by a user on the map.

3. The method according to claim 1 or 2, It is characterized in that The step of determining a plurality of target operation objects to be operated on that are located around the reference path among the operation objects according to the relative position relationship between the operation objects in the operation area and the reference path comprises: determining a search area in the operation area according to the reference path and the search radius; Each operation object located in the search area is determined as the target operation object.

4. The method according to claim 3, It is characterized in that Also includes: The search radius is determined according to the size of the work object.

5. The method according to claim 1, It is characterized in that The generating a target path based on the target operation object comprises: The target operation objects are sorted according to the distances between the target operation objects and the endpoints of the reference path to generate a target path.

6. The method according to claim 1, It is characterized in that The reference path includes a plurality of line segments connected in sequence, and the generating of the target path based on the target operation object includes: Determine the line segment corresponding to the target operation object according to the distance between the target operation object and each of the line segments; The target operation objects are sorted according to the order of the line segments corresponding to the target operation objects to generate a target path.

7. The method according to claim 6, It is characterized in that Each line segment corresponds to one or more target operation objects, and the target operation objects are sorted according to the order of the line segments corresponding to the target operation objects, including: Divide the target operation object into a plurality of groups, wherein each group corresponds to one of the line segments, and the distance between the target operation object in each group and the line segment corresponding to the group is the shortest; Sort the target job objects in each group; The target job objects are sorted according to the order of the line segments corresponding to the groups and the order of the target job objects within the groups.

8. The method according to claim 7, It is characterized in that The sorting process of the target objects in each group includes: Determine the foot of the perpendicular of the target operation object in each group on the line segment corresponding to the group; The target operation objects in the group are sorted according to the distance between the endpoint of the reference path or the endpoint of the line segment corresponding to the group and the perpendicular foot.

9. The method according to claim 1, It is characterized in that The generating a target path based on the target operation object comprises: The target path is determined according to the positions and working heights of the sorted target working objects.

10. The method according to claim 1, It is characterized in that Also includes: determining the types of obstacles in the operating area; An obstacle avoidance strategy is determined according to the type of the obstacle, and the target path is updated according to the obstacle avoidance strategy.

11. The method according to claim 1, It is characterized in that The method further comprises: The target path is smoothed.

12. The method according to claim 1, It is characterized in that The operation objects include crops, trees, power equipment to be inspected, or bridges to be inspected.

13. The method according to claim 2, It is characterized in that The tree center position of the target operation object is displayed on a map corresponding to the operation area included in the human-computer interaction interface.

14. The method according to claim 2, It is characterized in that The target path and / or the reference path are displayed on a map corresponding to the working area included in the human-computer interaction interface.

15. The method according to claim 14, It is characterized in that The reference path is displayed using a dotted line, and the target path is displayed using a solid line.

16. A path planning device, It is characterized in that The device includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps are implemented: Generate a reference path according to the reference information input by the user; According to the relative position relationship between each operating object in the operating area and the reference path, determining a plurality of target operating objects to be operated on that are located around the reference path among the operating objects; A target path is generated based on the target work object so that the movable platform can perform the work task based on the target path, wherein the target path can indicate the order in which the movable platform performs the work tasks on the target work object, and the target path can pass through multiple target work objects to be worked on.

17. The device according to claim 16, It is characterized in that Before the processor generates a reference path according to the reference information input by the user, the processor is further configured to: A human-computer interaction interface is provided, wherein the human-computer interaction interface includes a map corresponding to the operation area, and the reference information includes a reference point or a reference line determined by a user on the map.

18. The device according to claim 16 or 17, It is characterized in that The processor is used to determine, according to the relative position relationship between each operating object and the reference path in the operating area, a plurality of target operating objects to be operated on that are located around the reference path among the operating objects, specifically to: determining a search area in the operation area according to the reference path and the search radius; Each operation object located in the search area is determined as the target operation object.

19. The device according to claim 18, It is characterized in that The processor is further configured to: The search radius is determined according to the size of the work object.

20. The device according to claim 16, It is characterized in that When the processor is used to generate a target path based on the target job object, it is specifically used to: The target operation objects are sorted according to the distances between the target operation objects and the endpoints of the reference path to generate a target path.

21. The device according to claim 16, It is characterized in that The reference path includes a plurality of line segments connected in sequence, and the processor is used to generate a target path based on the target operation object, specifically to: Determine the line segment corresponding to the target operation object according to the distance between the target operation object and each of the line segments; The target operation objects are sorted according to the order of the line segments corresponding to the target operation objects to generate a target path.

22. The device according to claim 21, It is characterized in that Each line segment corresponds to one or more target operation objects, and the processor is used to sort the target operation objects according to the order of the line segments corresponding to the target operation objects, specifically for: Divide the target operation object into a plurality of groups, wherein each group corresponds to one of the line segments, and the distance between the target operation object in each group and the line segment corresponding to the group is the shortest; Sort the target job objects in each group; The target job objects are sorted according to the order of the line segments corresponding to the groups and the order of the target job objects within the groups.

23. The device according to claim 22, It is characterized in that When the processor is used to sort the target objects in each group, it is specifically used to: Determine the foot of the perpendicular of the target operation object in each group on the line segment corresponding to the group; The target operation objects in the group are sorted according to the distance between the endpoint of the reference path or the endpoint of the line segment corresponding to the group and the perpendicular foot.

24. The device according to claim 16, It is characterized in that When the processor is used to generate a target path based on the target job object, it is specifically used to: The target path is determined according to the positions and working heights of the sorted target working objects.

25. The device according to claim 16, It is characterized in that The processor is further configured to: determining the types of obstacles in the operating area; An obstacle avoidance strategy is determined according to the type of the obstacle, and the target path is updated according to the obstacle avoidance strategy.

26. The device according to claim 16, It is characterized in that The processor is further configured to: The target path is smoothed.

27. The device according to claim 16, It is characterized in that The operation objects include crops, trees, power equipment to be inspected, or bridges to be inspected.

28. A path planning system, It is characterized in that Including mobile platform and control terminal, The control terminal is used to generate a reference path according to reference information input by a user, determine a plurality of target operation objects to be operated that are located around the reference path among the operation objects according to the relative position relationship between each operation object in the operation area and the reference path, generate a target path based on the target operation objects, and send the target path to the mobile platform, wherein the target path can indicate the order in which the mobile platform performs operation tasks on the target operation objects, and the target path can pass through a plurality of the target operation objects to be operated; The mobile platform is used to perform a work task according to the target path.

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