A control method, device and electronic equipment for unmanned equipment

Abstract

The present specification discloses a control method, device and electronic device for unmanned equipment. The embodiments of the present specification select a target line that meets preset conditions from the candidate lines corresponding to each obstacle based on the contour data of each obstacle around the unmanned equipment and the position of the unmanned equipment. The target line corresponding to each obstacle is constrained to enclose a closed area, and the unmanned equipment is controlled based on the drivable area. The candidate lines corresponding to the obstacles are screened to obtain target lines that meet the conditions, and the drivable area is constructed with the target lines, which can improve the efficiency of constructing the drivable area.

Description

Technical Field

[0001] This specification relates to the field of unmanned driving, and in particular to a control method, device and electronic equipment for unmanned equipment. Background Art

[0002] In the field of unmanned driving, when unmanned equipment is driving, it is necessary for the unmanned equipment to predict the driving path of obstacles around the unmanned equipment, so as to plan the driving path of the unmanned equipment itself and control it according to the planned driving path.

[0003] When unmanned equipment plans its own driving path, in order to ensure the safety of the unmanned equipment, it is necessary to consider the distance between the unmanned equipment and the surrounding obstacles, so as to determine the drivable area where the unmanned equipment can drive safely. Therefore, how to accurately determine the boundaries of the drivable area of ​​the unmanned equipment is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of this specification provide a control method, device and electronic device for unmanned equipment to partially solve the problems existing in the above-mentioned prior art.

[0005] The embodiments of this specification adopt the following technical solutions:

[0006] This specification provides a control method for unmanned equipment, including:

[0007] Determine the contour data of each obstacle within the preset range of the unmanned equipment;

[0008] For each obstacle, according to the contour data of the obstacle, at least one boundary line of the drivable area corresponding to the unmanned equipment is determined from the contour of the obstacle as a candidate line corresponding to the obstacle;

[0009] According to the position of the unmanned equipment, a candidate line whose distance from the unmanned equipment meets a preset condition is selected from the candidate lines corresponding to the obstacle as the target line corresponding to the obstacle;

[0010] The target line corresponding to each obstacle is constrained to enclose a closed area, and a drivable area corresponding to the unmanned equipment is determined, so that the unmanned equipment is controlled according to the drivable area.

[0011] Optionally, according to the position of the unmanned equipment, selecting a candidate line whose distance from the unmanned equipment meets a preset condition from the candidate lines corresponding to the obstacle as the target line corresponding to the obstacle, specifically includes:

[0012] For each candidate line corresponding to the obstacle, a point intersecting with the candidate line is determined from the outline of the obstacle as a candidate point on the outline of the obstacle;

[0013] According to the position of the unmanned equipment and each candidate point on the obstacle contour, determine a candidate point on the obstacle contour whose distance to the unmanned equipment meets a preset condition as a target point;

[0014] Based on the target point, a candidate line including the target point is determined as a target line corresponding to the obstacle, wherein the target line does not pass through an edge of the outline of the obstacle that does not include the target point.

[0015] Optionally, according to the position of the unmanned equipment and each candidate point on the obstacle contour, determining, from the obstacle contour, a candidate point whose distance from the unmanned equipment meets a preset condition, specifically includes:

[0016] Determine the vertices on the obstacle contour from the candidate points on the obstacle contour;

[0017] For each vertex on the outline of the obstacle, determine a line between the center point corresponding to the unmanned equipment and the vertex as a line corresponding to the vertex;

[0018] According to the connecting line corresponding to the vertex, determine the distance between the vertex and the center point as the distance corresponding to the vertex;

[0019] According to the distance corresponding to each vertex, a candidate point whose distance from the unmanned equipment meets a preset condition is determined from the outline of the obstacle.

[0020] Optionally, according to the distance corresponding to each vertex, a candidate point whose distance from the unmanned equipment meets a preset condition is determined from the outline of the obstacle, specifically including:

[0021] For each vertex on the outline of the obstacle, determine the angle between the edge on the outline of the obstacle containing the vertex and the line corresponding to the vertex as the angle corresponding to the vertex;

[0022] According to the included angle corresponding to each vertex, determine whether the vertices contain a vertex that meets the preset angle condition;

[0023] If so, according to the distances corresponding to the vertices meeting the preset angle conditions, candidate points whose distances from the unmanned equipment meet the preset conditions are determined from the outline of the obstacle.

[0024] Optionally, the method further comprises:

[0025] If it is determined that none of the vertices contains a vertex that meets the preset angle condition, a vertex closest to the center point is determined from the vertices as a basic vertex;

[0026] From the edge where the basic vertex is located, a candidate point whose distance to the unmanned equipment meets a preset condition is determined.

[0027] Optionally, the drivable area corresponding to the unmanned equipment is determined based on the constraint that the target line corresponding to each obstacle can enclose a closed area, specifically including:

[0028] Taking the unmanned equipment as the rotation center, and determining the direction of the target line corresponding to each obstacle according to the relative position between each obstacle and the unmanned equipment;

[0029] The closed area is constructed through each target line with the constraint that the directions of each edge in the closed drivable area conform to the specified rotation direction;

[0030] According to the constructed closed area, the drivable area corresponding to the unmanned equipment is determined.

[0031] Optionally, a closed area is constructed through each target line with the constraint that the directions of each edge in the closed drivable area conform to the specified rotation direction, specifically including:

[0032] Selecting a reference target line from the target lines corresponding to the obstacles;

[0033] From the target lines corresponding to the obstacles, determine a target line intersecting with the reference target line as a first candidate target line;

[0034] According to the orientation of the reference target line, a target line that meets the specified rotation direction is selected from each first candidate target line to re-determine the selected target line as the reference target line until the re-selected reference target line intersects with the initial reference target line to construct a closed area.

[0035] Optionally, according to the orientation of the reference target line, a target line that meets the specified rotation direction is selected from each first candidate target line to re-determine the selected target line as the reference target line, specifically including:

[0036] According to the orientation of the reference target line and the orientation of each first candidate target line, a target line that meets the specified rotation direction is selected from each first candidate target line as a second candidate target line;

[0037] For each second candidate target line, determine the distance between the second candidate target line and the unmanned device according to the position of the unmanned device and the position of the second candidate target line, as the distance corresponding to the second candidate target line;

[0038] According to the distance corresponding to each second candidate target line, a second candidate target line closest to the unmanned equipment is selected from the second candidate target lines, so as to re-determine the selected second candidate target line as the reference target line.

[0039] Optionally, selecting a reference target line from the target lines corresponding to the obstacles specifically includes:

[0040] Selecting any target line from the target lines corresponding to the obstacles as the initial target line;

[0041] Determine a target line intersecting with the initial target line as a verification target line;

[0042] For each verification target line, determining an intersection point between the verification target line and the initial target line as a rotation point corresponding to the verification target line;

[0043] Based on the rotation point corresponding to the verification target line, the initial target line is rotated along the specified rotation direction;

[0044] Determining whether the initial target line and the verification target line are in the same direction when the initial target line coincides with the verification target line for the first time;

[0045] When the initial target line coincides with each verification target line for the first time, if the initial target line and each verification target line have the same orientation, the initial target line is determined as the reference target line.

[0046] This specification provides an unmanned equipment control device, including:

[0047] The first determination module is used to determine the contour data of each obstacle within the preset range of the unmanned equipment;

[0048] A second determination module is used to determine, for each obstacle, at least one boundary line of the drivable area corresponding to the unmanned equipment from the outline of the obstacle according to the outline data of the obstacle as a candidate line corresponding to the obstacle;

[0049] A third determination module is used to select, according to the position of the unmanned equipment, a candidate line whose distance from the unmanned equipment meets a preset condition from the candidate lines corresponding to the obstacle as a target line corresponding to the obstacle;

[0050] The control module is used to determine the drivable area corresponding to the unmanned equipment based on the constraint that the target line corresponding to each obstacle can enclose a closed area, so as to control the unmanned equipment according to the drivable area.

[0051] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the control method of the unmanned equipment described above is implemented.

[0052] The present specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned control method for unmanned equipment when executing the program.

[0053] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0054] The embodiment of this specification selects a target line that meets preset conditions from the candidate lines corresponding to each obstacle based on the contour data of each obstacle around the unmanned device and the position of the unmanned device. The target line corresponding to each obstacle is constrained to enclose a closed area, and the unmanned device is controlled based on the drivable area. The candidate lines corresponding to the obstacles are screened to obtain target lines that meet the conditions, and the drivable area is constructed based on the target lines, which can improve the efficiency of constructing the drivable area. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0056] Figure 1 A flowchart of a control method for an unmanned device provided in an embodiment of this specification;

[0057] Figure 2 A schematic diagram of the outline of an obstacle provided in the embodiments of this specification;

[0058] Figure 3a to Figure 3b A schematic diagram of determining a target point on an obstacle provided in an embodiment of this specification;

[0059] Figure 4 A schematic diagram of a target line on an obstacle provided in an embodiment of this specification;

[0060] Figure 5 A schematic diagram of the direction of the target line of each obstacle provided in the embodiments of this specification;

[0061] Figure 6 A schematic diagram of constructing a drivable area provided in an embodiment of this specification;

[0062] Figure 7 A schematic diagram of selecting a second candidate target line closest to an unmanned device provided in an embodiment of this specification;

[0063] Figure 8a to Figure 8b A schematic diagram of selecting an initial reference target line provided in an embodiment of this specification;

[0064] Fig. 9 A schematic diagram of the structure of an unmanned equipment control device provided in an embodiment of this specification;

[0065] Fig.10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification. DETAILED DESCRIPTION

[0066] In this specification, the unmanned device plans a drivable path for the unmanned device itself according to the location of obstacles around the unmanned device and the future movement path of the obstacles. In order to ensure that the planned drivable path is as safe as possible, a drivable area for path planning can be determined for the unmanned device.

[0067] In the embodiments of this specification, when planning a path for an unmanned device, a convex polygonal drivable area is usually used to plan the path for the unmanned device. Therefore, a convex polygonal drivable area needs to be constructed in this specification.

[0068] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0069] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0070] Figure 1 A flow chart of a control method for an unmanned device provided in an embodiment of this specification includes:

[0071] S100: Determine the contour data of each obstacle within a preset range of the unmanned equipment.

[0072] In an embodiment of the present specification, data of obstacles within a preset range of the unmanned equipment are obtained through sensors installed on the unmanned equipment. The obstacle data may include contour data of the obstacle, wherein the data type of the contour data may include image data, point cloud data, etc. The obstacles may be manned vehicles, other unmanned equipment, pedestrians, static objects, etc.

[0073] Specifically, the point cloud data within the preset range of the unmanned equipment can be collected by the laser radar, and the collected point cloud data can be clustered according to the position of each point cloud point to obtain multiple clusters. Among them, each cluster can represent an obstacle. Then, for each cluster, the peripheral point cloud points corresponding to the cluster are determined, and based on the peripheral point cloud points, the contour data corresponding to the cluster is determined. That is, the contour data of the obstacle is determined.

[0074] In addition, the visual sensor can also be used to collect image data within the preset range of the unmanned equipment. Image recognition is performed on the collected image data to identify obstacles in the image. Then, the contour data of each obstacle is extracted based on the pixel points of each obstacle in the image.

[0075] The obstacle contour data may be data of the outer contour of the obstacle itself, or data of a minimum polygon containing the obstacle, and the minimum polygon may be a convex polygon.

[0076] The outline of the obstacle is taken as the smallest convex polygon as an example. The outline diagram of the obstacle provided in the embodiments of this specification is as follows: Figure 2 shown.

[0077] exist Figure 2 In the figure, on the road where the unmanned equipment is located, with the driving direction of the unmanned equipment as the front, there are obstacles in the left front, right front, left side, rear and right rear of the unmanned equipment, which are obstacle a to obstacle e respectively.

[0078] The unmanned equipment in this specification can be an unmanned vehicle, which can be used in the field of logistics and distribution, including both instant delivery fields such as takeout and delivery, and other non-instant delivery fields. Unmanned equipment can also be used in manned services.

[0079] S102: For each obstacle, according to the contour data of the obstacle, determine at least one boundary line of the drivable area corresponding to the unmanned equipment from the contour of the obstacle as a candidate line corresponding to the obstacle.

[0080] In an embodiment of the present specification, after determining the contour data of each obstacle within a preset range of the unmanned equipment, for each obstacle, at least one boundary line of the drivable area corresponding to the unmanned equipment can be determined from the contour of the obstacle based on the contour data of the obstacle as a candidate line corresponding to the obstacle.

[0081] Specifically, for each obstacle, any line that intersects with the outline of the obstacle can be used as a candidate line corresponding to the obstacle. The candidate line refers to a boundary line used to construct a drivable area corresponding to the unmanned equipment.

[0082] Furthermore, each edge on the outline of the obstacle can be determined as a boundary line that may be used to construct the drivable area corresponding to the unmanned equipment, and each edge on the outline of the obstacle can be used as a candidate line corresponding to the obstacle. Lines that intersect with vertices on the outline of the obstacle can also be used as candidate lines corresponding to the obstacle.

[0083] S104: According to the position of the unmanned equipment, a candidate line whose distance from the unmanned equipment meets a preset condition is selected from the candidate lines corresponding to the obstacle as a target line corresponding to the obstacle.

[0084] In an embodiment of the present specification, after determining the candidate line corresponding to each obstacle, for each obstacle, a candidate line whose distance to the unmanned device meets preset conditions can be selected from the candidate lines corresponding to the obstacle according to the position of the unmanned device as the target line corresponding to the obstacle.

[0085] Specifically, for each candidate line corresponding to the obstacle, a point intersecting with the candidate line is determined from the outline of the obstacle as a candidate point on the outline of the obstacle. Based on the position of the unmanned device and each candidate point on the outline of the obstacle, a candidate point whose distance from the unmanned device meets a preset condition is determined from the outline of the obstacle as a target point. Then, based on the target point, a candidate line containing the target point is determined as the target line corresponding to the obstacle.

[0086] Next, the determination of a target point whose distance from the unmanned equipment meets preset conditions from the outline of the obstacle is mainly explained.

[0087] Since the candidate points are located on the contour of the obstacle, the target point can be selected from the candidate points involved in the contour data of the obstacle.

[0088] When the contour data is point cloud data, for each obstacle, the candidate point whose distance to the unmanned equipment meets the preset conditions can be directly determined from the candidate points corresponding to the obstacle according to the contour data of the obstacle as the target point. When the contour data is point cloud data, the contour data can represent the position of each point on the contour of the obstacle.

[0089] Specifically, when the contour data is point cloud data, for each obstacle, the point closest to the unmanned device can be directly selected from the candidate points involved in the contour data of the obstacle as the point to be checked. Then, it is determined whether the pixel clarity of the point to be checked is greater than the preset threshold. If the pixel clarity of the point to be checked is greater than the preset threshold, the point to be checked is determined as the target point. If the pixel clarity of the point to be checked is not greater than the preset threshold, the point next closest to the unmanned device is selected from the contour data of the obstacle, and the selected point is re-used as the point to be checked, and the re-selected point to be checked is judged until the point to be checked is determined as the target point.

[0090] In addition, when the contour data is point cloud data, for each obstacle, it can be determined whether the contour data of the obstacle is missing. If not, the point closest to the unmanned device can be directly selected from the candidate points involved in the contour data of the obstacle as the point to be checked. Alternatively, the point closest to the unmanned device can be directly selected from the candidate points involved in the contour data of the obstacle as the target point.

[0091] If the outline data of the obstacle is missing, the missing outline data of the obstacle can be predicted according to the position of the point cloud points of the outline data of the obstacle to obtain the predicted complete outline data of the obstacle. Then, the point closest to the unmanned device is selected from the candidate points involved in the complete outline data of the obstacle as the point to be checked. Alternatively, the point closest to the unmanned device is directly selected from the candidate points involved in the complete outline data of the obstacle as the target point.

[0092] When the contour data is image data, the position of each obstacle can be determined according to the positioning position of the unmanned device. Then, for each obstacle, according to the position of the obstacle and the position of the unmanned device, a candidate point whose distance from the unmanned device meets the preset conditions is determined from the candidate points on the contour of the obstacle as the target point. Among them, for each obstacle, the point that meets the preset conditions can be the point closest to the unmanned device among the candidate points on the obstacle contour.

[0093] Specifically, for each obstacle, determine the vertices on the obstacle's contour from the candidate points on the obstacle's contour. For each vertex on the obstacle's contour, determine the line between the center point corresponding to the unmanned device and the vertex as the line corresponding to the vertex. Based on the line corresponding to the vertex, determine the distance between the vertex and the center point as the distance corresponding to the vertex. Based on the distance corresponding to each vertex, determine from the obstacle's contour the candidate points whose distances to the unmanned device meet preset conditions, that is, the points closest to the unmanned device. Figure 3a to Figure 3b As shown. The center point of the unmanned equipment may be the center position of the rear axle of the unmanned equipment.

[0094] Since the relative position between each obstacle and the unmanned device is different, it is possible that all vertices on the obstacle contour are not the points closest to the object device. Therefore, it is necessary to determine whether each vertex on the obstacle contour is the point closest to the unmanned device among all the points on the obstacle contour.

[0095] Specifically, for each vertex on the outline of the obstacle, the angle between the edge on the outline of the obstacle containing the vertex and the line corresponding to the vertex is determined as the angle corresponding to the vertex. According to the angle corresponding to each vertex, it is determined whether the vertices contain a vertex that meets the preset angle condition. Among them, for the angle corresponding to each vertex, the preset angle condition refers to whether the angles corresponding to the vertex are all obtuse angles.

[0096] If so, based on the distances corresponding to the vertices that meet the preset angle conditions, candidate points whose distances from the unmanned device meet the preset conditions are determined from the outline of the obstacle. That is, the point closest to the unmanned device is selected from each vertex on the outline of the obstacle. Figure 3a shown.

[0097] exist Figure 3a In the example, taking obstacle a as an example, each vertex on the outline of obstacle a is connected to the center point of the unmanned device to obtain the corresponding line of each vertex. From the corresponding lines of each vertex, the point closest to the unmanned device is selected as the target point.

[0098] If it is determined that none of the vertices contains a vertex that meets the preset angle condition, the vertex closest to the center point is determined from the vertices as the basic vertex. From the edge where the basic vertex is located, a candidate point whose distance to the unmanned device meets the preset condition is determined.

[0099] Specifically, a perpendicular line can be drawn from the center point of the unmanned device to the edge where the basic vertex is located, and a candidate point whose distance from the unmanned device meets the preset conditions can be determined from the edge where the basic vertex is located. That is, the intersection point between the perpendicular line and the edge where the basic vertex is located is determined as the candidate point whose distance from the unmanned device meets the preset conditions. Figure 3b shown.

[0100] exist Figure 3b In the example, taking obstacle c as an example, each vertex on the contour of obstacle c is not the point closest to the unmanned device. Therefore, a perpendicular line is drawn from the center point of the unmanned device to the edge of the contour of obstacle c close to the unmanned device, and the foot of the perpendicular is obtained, and the foot of the perpendicular is used as the target point.

[0101] In the embodiment of this specification, for each obstacle, based on the target point on the outline of the obstacle, a candidate line containing the target point is determined from the candidate lines corresponding to the obstacle as the target line corresponding to the obstacle. In order to ensure the safety of the drivable area constructed by the target line, the target line should not pass through the edge of the obstacle outline that does not contain the target point.

[0102] In the case where a vertex on the contour of the obstacle is used as the target point, a candidate line that includes the target point and does not intersect with an edge on the contour of the obstacle may be selected from the candidate lines corresponding to the obstacle as the target line.

[0103] Furthermore, a candidate line perpendicular to the line corresponding to the target point can be selected from the candidate lines corresponding to the obstacle as the target line, wherein the target line includes the target point. That is, the target line can be a tangent line of the obstacle.

[0104] In the case where the target point is determined from the edge where the basic vertex of the obstacle is located, the edge containing the target point can be determined from the edge where the basic vertex of the obstacle is located as the target line. That is, the candidate line corresponding to the obstacle includes the edge on the outline of the obstacle.

[0105] Taking the target line as the tangent line as an example, for the target point on the contour of each obstacle, determine the tangent line corresponding to each obstacle, such as Figure 4 shown.

[0106] exist Figure 4 In the example, target point 1 corresponding to obstacle a determines target line L1 corresponding to obstacle a. Target point 2 corresponding to obstacle b determines target line L2 corresponding to obstacle b. Target point 3 corresponding to obstacle c determines target line L3 corresponding to obstacle c. Target point 4 corresponding to obstacle d determines target line L4 corresponding to obstacle d. Target point 5 corresponding to obstacle e determines target line L5 corresponding to obstacle e.

[0107] S106: Taking the target line corresponding to each obstacle as a constraint to enclose a closed area, determine a drivable area corresponding to the unmanned equipment, so as to control the unmanned equipment according to the drivable area.

[0108] In the embodiment of this specification, after determining the target line corresponding to each obstacle, the drivable area corresponding to the unmanned equipment can be determined with the constraint that each target line can enclose a closed area. Then, according to the drivable area corresponding to the unmanned equipment, a safe driving path is planned for the unmanned equipment, and the unmanned equipment is controlled based on the planned driving path. The graphic of the drivable area corresponding to the unmanned equipment is a convex polygon.

[0109] Next, we will mainly explain how to determine the drivable area corresponding to unmanned equipment.

[0110] Specifically, for the target lines corresponding to any two obstacles, the intersection between the target lines corresponding to the two obstacles is determined. Then, multiple closed figures are constructed based on the intersections determined by the target lines corresponding to all obstacles. In order to ensure the safety of the unmanned equipment during driving, the smallest closed figure is selected from multiple closed figures as the drivable area corresponding to the unmanned equipment. Among them, the closed figure is a convex polygon.

[0111] In addition, in order to reduce the amount of calculation for constructing the drivable area, a direction may be set for each target line, that is, the directionality of each target line is determined.

[0112] Specifically, the unmanned equipment is used as the rotation center, and the direction of the target line corresponding to each obstacle is determined according to the relative position between each obstacle and the unmanned equipment. The closed area is constructed through each target line, with the direction of each edge in the closed drivable area being in accordance with the specified rotation direction as a constraint. Based on the constructed closed area, the drivable area corresponding to the unmanned equipment is determined.

[0113] When determining the direction of the target line corresponding to each obstacle according to the relative position between each obstacle and the unmanned equipment, the direction of the target line corresponding to each obstacle can be determined according to the relative position between each obstacle and the unmanned equipment, so that the direction of each target line around the unmanned equipment conforms to the specified rotation direction. The specified rotation direction can be clockwise or counterclockwise. Figure 5 shown.

[0114] exist Figure 5 In the example, the direction of the target line corresponding to each obstacle is determined by specifying the rotation direction as counterclockwise. L1 points to the left rear of the unmanned device, L2 points to the left front of the unmanned device, L3 points to the rear of the unmanned device, L4 points to the right of the unmanned device, and L5 points to the right front of the unmanned device.

[0115] When constructing a closed area based on the direction of the target line corresponding to each obstacle, a baseline target line can be selected from the target lines corresponding to each obstacle. Then, from the target lines corresponding to each obstacle, a target line that intersects with the baseline target line is determined as the first candidate target line. Based on the direction of the baseline target line, a target line with the next direction that meets the specified rotation direction is selected from each first candidate target line to re-determine the selected target line as the baseline target line, until the re-selected baseline target line intersects with the initial baseline target line, so as to construct a closed area. Figure 6 shown.

[0116] exist Figure 6In the example, taking the counterclockwise rotation direction as an example, L4 is used as the reference target line, the next direction pointed by L4 is L5, the next direction pointed by L5 is L2, and so on, finally constructing a closed area (the area covered by the diagonal shadow).

[0117] In order to continuously reduce the amount of calculation and construct the largest safe drivable area for unmanned equipment each time the baseline target line is reselected, part of the target line can be deleted each time the baseline target line is reselected.

[0118] Specifically, based on the orientation of the baseline target line and the orientation of each first candidate target line, a target line with the next orientation that meets the specified rotation direction can be selected from each first candidate target line as the second candidate target line. For each second candidate target line, based on the position of the unmanned device and the position of the second candidate target line, the distance between the second candidate target line and the unmanned device is determined as the distance corresponding to the second candidate target line. Based on the distance corresponding to each second candidate target line, the second candidate target line closest to the unmanned device is selected from each second candidate target line, so that the selected second candidate target line can be re-determined as the baseline target line. Figure 7 shown.

[0119] exist Figure 7 In the example of target line L4, when there are multiple second candidate target lines in the next direction of target line L4, the second candidate target line closest to the unmanned device is selected from the second candidate target lines in the next direction of target line L4. For example, along the direction of target line L4, the second candidate target lines in the next direction of target line L4 are L6, L7, and L8 in sequence. In this case, L6, which is closest to the center point of the unmanned device, is selected.

[0120] Through the above Figure 1 As can be seen from the method shown, this specification selects a target line that meets the preset conditions from the candidate lines corresponding to each obstacle based on the contour data of each obstacle around the unmanned equipment and the position of the unmanned equipment. The target line corresponding to each obstacle can enclose a closed area as a constraint to determine the drivable area of ​​the unmanned equipment, and the unmanned equipment is controlled based on the drivable area. The candidate lines corresponding to the obstacles are screened to obtain target lines that meet the conditions, and the drivable area is constructed with the target lines, which can improve the efficiency of constructing the drivable area.

[0121] Furthermore, in Figure 1 In step S106 shown, in order to improve the accuracy of selecting the initial reference target line, the initially selected target line may be verified.

[0122] Specifically, a target line is randomly selected from the target lines corresponding to the obstacles as the initial target line, and a target line intersecting with the initial target line is determined as the verification target line.

[0123] For each verification target line, determine the intersection point between the verification target line and the initial target line as the rotation point corresponding to the verification target line. Based on the rotation point corresponding to the verification target line, rotate the initial target line along the specified rotation direction. Determine whether the initial target line and the verification target line are in the same direction when the initial target line first overlaps with the verification target line.

[0124] When the initial target line coincides with each verification target line for the first time, if the initial target line and each verification target line have the same direction, the initial target line is determined as the reference target line. If the initial target line and any verification target line do not have the same direction, the initial target line is deleted, and a target line is randomly selected from the remaining target lines corresponding to each obstacle and is re-selected as the initial target line until the re-selected initial target line is used as the reference target line. Figure 8a to Figure 8b shown.

[0125] exist Figure 8a In the example, if the specified rotation direction is counterclockwise, if the initial target line is L11, the verification target lines intersecting the initial target line are L12 and L13, and the rotation points are point 1 and point 2 respectively. L12 points to the bottom of the initial target line, and L13 points to the top of the initial target line. When L11 rotates counterclockwise around point 1 and initially coincides with L12, the directions of L11 and L12 are consistent. When L11 rotates counterclockwise around point 2 and initially coincides with L13, the directions of L11 and L13 are consistent. Therefore, the initial target line L11 is used as the reference target line.

[0126] exist Figure 8b In the example, if the specified rotation direction is counterclockwise, if the initial target line is L21, the verification target lines intersecting the initial target line are L22 and L23, and the rotation points are point 3 and point 4 respectively. L22 points to the top of the initial target line, and L23 points to the bottom of the initial target line. When L21 rotates counterclockwise around point 3 and initially coincides with L22, the directions of L21 and L22 are consistent. When L21 rotates counterclockwise around point 4 and initially coincides with L23, the directions of L21 and L23 are inconsistent. Therefore, the initial target line L21 is deleted.

[0127] In addition, it is also possible to determine whether to use the initial target line as the reference target line based on the intersection points between each verification target line and the initial target line.

[0128] Specifically, with the direction of the initial target line as the positive direction, based on the direction of rotation, the position of the intersection of the next pointing verification target line of the direction of the initial target line and the initial target line is determined as the next pointing position, and the position of the intersection of the previous pointing verification target line of the direction of the initial target line and the initial target line is determined as the previous pointing position. If the next pointing position is greater than the previous pointing position, it is determined that the initial target line is used as the reference target line. If the next pointing position is less than the previous pointing position, it is determined that the initial target line is deleted.

[0129] The above is a control method for unmanned equipment provided in the embodiments of this specification. Based on the same idea, this specification also provides corresponding devices, storage media and electronic devices.

[0130] Fig. 9 A schematic diagram of a structure of an unmanned equipment control device provided in an embodiment of this specification, the device comprising:

[0131] The first determination module 901 is used to determine the contour data of each obstacle within a preset range of the unmanned equipment;

[0132] A second determination module 902 is used to determine, for each obstacle, at least one boundary line of the drivable area corresponding to the unmanned equipment from the outline of the obstacle according to the outline data of the obstacle as a candidate line corresponding to the obstacle;

[0133] The third determination module 903 is used to select, according to the position of the unmanned equipment, a candidate line whose distance to the unmanned equipment meets a preset condition from the candidate lines corresponding to the obstacle as the target line corresponding to the obstacle;

[0134] The control module 904 is used to determine the drivable area corresponding to the unmanned equipment based on the constraint that the target line corresponding to each obstacle can enclose a closed area, so as to control the unmanned equipment according to the drivable area.

[0135] Optionally, the third determination module 903 is specifically used to, for each candidate line corresponding to the obstacle, determine, from the outline of the obstacle, a point that intersects with the candidate line as a candidate point on the outline of the obstacle; based on the position of the unmanned equipment and each candidate point on the outline of the obstacle, determine, from the outline of the obstacle, a candidate point whose distance from the unmanned equipment meets a preset condition as a target point; based on the target point, determine a candidate line containing the target point as the target line corresponding to the obstacle, wherein the target line does not pass through an edge on the outline of the obstacle that does not contain the target point.

[0136] Optionally, the third determination module 903 is specifically used to determine the vertices on the outline of the obstacle from the candidate points on the outline of the obstacle; for each vertex on the outline of the obstacle, determine the line between the center point corresponding to the unmanned equipment and the vertex as the line corresponding to the vertex; based on the line corresponding to the vertex, determine the distance between the vertex and the center point as the distance corresponding to the vertex; based on the distance corresponding to each vertex, determine the candidate points on the outline of the obstacle whose distance to the unmanned equipment meets preset conditions.

[0137] Optionally, the third determination module 903 is specifically used to, for each vertex on the outline of the obstacle, determine the angle between the edge on the outline of the obstacle that contains the vertex and the line corresponding to the vertex, as the angle corresponding to the vertex; based on the angle corresponding to each vertex, determine whether each vertex contains a vertex that meets a preset angle condition; if so, based on the distance corresponding to the vertex that meets the preset angle condition, determine a candidate point on the outline of the obstacle whose distance from the unmanned equipment meets the preset condition.

[0138] Optionally, the third determination module 903 is also used to, if it is determined that the vertices do not contain a vertex that meets the preset angle condition, determine the vertex closest to the center point from the vertices as the basic vertex; and determine from the edge where the basic vertex is located a candidate point whose distance from the unmanned equipment meets the preset conditions.

[0139] Optionally, the control module 904 is specifically used to, with the unmanned equipment as the rotation center, determine the direction of the target line corresponding to each obstacle according to the relative position between the obstacles and the unmanned equipment; construct a closed area through each target line with the constraint that the direction of each edge in the closed drivable area conforms to the specified rotation direction; and determine the drivable area corresponding to the unmanned equipment based on the constructed closed area.

[0140] Optionally, the control module 904 is specifically used to select a baseline target line from the target lines corresponding to the obstacles; determine a target line intersecting with the baseline target line from the target lines corresponding to the obstacles as a first candidate target line; and select a target line that meets the specified rotation direction from each first candidate target line according to the direction of the baseline target line, so as to re-determine the selected target line as the baseline target line, until the re-selected baseline target line intersects with the initial baseline target line, so as to construct a closed area.

[0141] Optionally, the control module 904 is specifically used to select a target line that meets the specified rotation direction from each first candidate target line as the second candidate target line according to the direction of the baseline target line and the direction of each first candidate target line; for each second candidate target line, determine the distance between the second candidate target line and the unmanned equipment according to the position of the unmanned equipment and the position of the second candidate target line, as the distance corresponding to the second candidate target line; and select the second candidate target line that is closest to the unmanned equipment from each second candidate target line according to the distance corresponding to each second candidate target line, so as to re-determine the selected second candidate target line as the baseline target line.

[0142] Optionally, the control module 904 is specifically used to select any target line from the target lines corresponding to the obstacles as the initial target line; determine the target line intersecting with the initial target line as the verification target line; for each verification target line, determine the intersection between the verification target line and the initial target line as the rotation point corresponding to the verification target line; based on the rotation point corresponding to the verification target line, rotate the initial target line along the specified rotation direction; determine whether the initial target line and the verification target line are in the same direction when the initial target line first coincides with the verification target line; when the initial target line first coincides with each verification target line, if the initial target line and each verification target line are in the same direction, determine the initial target line as the reference target line.

[0143] This specification also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, it can be used to perform the above Figure 1 A control method for unmanned equipment is provided.

[0144] based on Figure 1 The control method of the unmanned equipment shown in the present specification also provides Fig.10 The structural diagram of the electronic device shown in FIG. Fig.10 At the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 The control method of the unmanned equipment.

[0145] Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the executor of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0146] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0147] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0148] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0149] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0150] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0151] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0152] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0153] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0154] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0155] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0156] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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, 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. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0157] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0158] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0160] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0161] The above description is only an embodiment of the present specification and is not intended to limit the present specification. For those skilled in the art, the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of the claims of the present specification.

Claims

1. A control method for unmanned equipment, characterized in that: include: Determine the contour data of each obstacle within the preset range of the unmanned equipment; For each obstacle, according to the contour data of the obstacle, at least one boundary line of the drivable area corresponding to the unmanned equipment is determined from the contour of the obstacle as a candidate line corresponding to the obstacle; According to the position of the unmanned equipment, a candidate line whose distance from the unmanned equipment meets a preset condition is selected from the candidate lines corresponding to the obstacle as the target line corresponding to the obstacle; The target line corresponding to each obstacle can enclose a closed area as a constraint, and the drivable area corresponding to the unmanned equipment is determined, so that the unmanned equipment can be controlled according to the drivable area. The step of selecting, according to the position of the unmanned equipment, a candidate line whose distance from the unmanned equipment meets a preset condition from the candidate lines corresponding to the obstacle as the target line corresponding to the obstacle specifically includes: For each candidate line corresponding to the obstacle, a point intersecting with the candidate line is determined from the outline of the obstacle as a candidate point on the outline of the obstacle; According to the position of the unmanned equipment and each candidate point on the obstacle contour, determine a candidate point on the obstacle contour whose distance to the unmanned equipment meets a preset condition as a target point; Based on the target point, determine a candidate line containing the target point as the target line corresponding to the obstacle, wherein the target line does not pass through an edge of the obstacle contour that does not contain the target point; The step of determining, based on the position of the unmanned equipment and each candidate point on the obstacle contour, a candidate point whose distance from the unmanned equipment meets a preset condition from the obstacle contour specifically includes: Determine the vertices on the obstacle contour from the candidate points on the obstacle contour; For each vertex on the outline of the obstacle, determine a line between the center point corresponding to the unmanned equipment and the vertex as a line corresponding to the vertex; According to the connecting line corresponding to the vertex, the distance between the vertex and the center point is determined as the distance corresponding to the vertex; according to the distance corresponding to each vertex, a candidate point whose distance from the unmanned equipment meets the preset conditions is determined from the outline of the obstacle.

2. The method according to claim 1, characterized in that According to the distance corresponding to each vertex, a candidate point whose distance from the unmanned equipment meets a preset condition is determined from the outline of the obstacle, specifically including: For each vertex on the outline of the obstacle, determine the angle between the edge on the outline of the obstacle containing the vertex and the line corresponding to the vertex as the angle corresponding to the vertex; According to the included angle corresponding to each vertex, determine whether the vertices contain a vertex that meets the preset angle condition; If so, according to the distances corresponding to the vertices meeting the preset angle conditions, candidate points whose distances from the unmanned equipment meet the preset conditions are determined from the outline of the obstacle.

3. The method according to claim 2, characterized in that The method further comprises: If it is determined that none of the vertices contains a vertex that meets the preset angle condition, a vertex closest to the center point is determined from the vertices as a basic vertex; From the edge where the basic vertex is located, a candidate point whose distance to the unmanned equipment meets a preset condition is determined.

4. The method according to claim 1, characterized in that The target line corresponding to each obstacle can enclose a closed area as a constraint, and the drivable area corresponding to the unmanned equipment is determined, specifically including: Taking the unmanned equipment as the rotation center, and determining the direction of the target line corresponding to each obstacle according to the relative position between each obstacle and the unmanned equipment; A closed area is constructed through each target line with the constraint that the directions of each edge in the closed drivable area conform to the specified rotation direction; and a drivable area corresponding to the unmanned equipment is determined based on the constructed closed area.

5. The method according to claim 4, characterized in that The closed area is constructed by each target line, with the constraint that the directions of the edges in the closed drivable area conform to the specified rotation direction, including: Selecting a reference target line from the target lines corresponding to the obstacles; From the target lines corresponding to the obstacles, determine a target line intersecting with the reference target line as a first candidate target line; According to the orientation of the reference target line, a target line that meets the specified rotation direction is selected from each first candidate target line to re-determine the selected target line as the reference target line until the re-selected reference target line intersects with the initial reference target line to construct a closed area.

6. The method according to claim 5, characterized in that According to the orientation of the reference target line, a target line that meets the specified rotation direction is selected from each first candidate target line to re-determine the selected target line as the reference target line, specifically including: According to the orientation of the reference target line and the orientation of each first candidate target line, a target line that meets the specified rotation direction is selected from each first candidate target line as a second candidate target line; For each second candidate target line, determine the distance between the second candidate target line and the unmanned device according to the position of the unmanned device and the position of the second candidate target line, as the distance corresponding to the second candidate target line; According to the distance corresponding to each second candidate target line, a second candidate target line closest to the unmanned equipment is selected from the second candidate target lines, so as to re-determine the selected second candidate target line as the reference target line.

7. The method according to claim 6, characterized in that Selecting a reference target line from the target lines corresponding to the obstacles specifically includes: Selecting any target line from the target lines corresponding to the obstacles as the initial target line; Determine a target line intersecting with the initial target line as a verification target line; For each verification target line, determining an intersection point between the verification target line and the initial target line as a rotation point corresponding to the verification target line; Based on the rotation point corresponding to the verification target line, the initial target line is rotated along the specified rotation direction; Determining whether the initial target line and the verification target line are in the same direction when the initial target line coincides with the verification target line for the first time; When the initial target line coincides with each verification target line for the first time, if the initial target line and each verification target line have the same orientation, the initial target line is determined as the reference target line.

8. An unmanned equipment control device, characterized in that: include: The first determination module is used to determine the contour data of each obstacle within the preset range of the unmanned equipment; A second determination module is used to determine, for each obstacle, at least one boundary line of the drivable area corresponding to the unmanned equipment from the outline of the obstacle according to the outline data of the obstacle as a candidate line corresponding to the obstacle; A third determination module is used to select, according to the position of the unmanned equipment, a candidate line whose distance from the unmanned equipment meets a preset condition from the candidate lines corresponding to the obstacle as a target line corresponding to the obstacle; A control module, used to determine a drivable area corresponding to the unmanned equipment based on a constraint that a target line corresponding to each obstacle can enclose a closed area, so as to control the unmanned equipment according to the drivable area; The step of selecting, according to the position of the unmanned equipment, a candidate line whose distance from the unmanned equipment meets a preset condition from the candidate lines corresponding to the obstacle as the target line corresponding to the obstacle specifically includes: For each candidate line corresponding to the obstacle, a point intersecting with the candidate line is determined from the outline of the obstacle as a candidate point on the outline of the obstacle; According to the position of the unmanned equipment and each candidate point on the obstacle contour, determine a candidate point on the obstacle contour whose distance to the unmanned equipment meets a preset condition as a target point; Based on the target point, determine a candidate line containing the target point as the target line corresponding to the obstacle, wherein the target line does not pass through an edge of the obstacle contour that does not contain the target point; The step of determining, based on the position of the unmanned equipment and each candidate point on the obstacle contour, a candidate point whose distance from the unmanned equipment meets a preset condition from the obstacle contour specifically includes: Determine the vertices on the obstacle contour from the candidate points on the obstacle contour; For each vertex on the outline of the obstacle, determine a line between the center point corresponding to the unmanned equipment and the vertex as a line corresponding to the vertex; According to the connecting line corresponding to the vertex, the distance between the vertex and the center point is determined as the distance corresponding to the vertex; according to the distance corresponding to each vertex, a candidate point whose distance from the unmanned equipment meets the preset conditions is determined from the outline of the obstacle.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method described in any one of claims 1 to 7 is implemented.

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