Path planning method and device for movable platform, and storage medium

Abstract

The embodiment of the invention relates to the field of movable platforms, and provides a path planning method and device for a movable platform and a storage medium, and the method comprises the steps: displaying task paths of the movable platform on a display module, the task paths comprise a first task path and a second task path, at least partial paths of the first task path and the second task path are adjacent; judging whether at least part of the path of the first task path and at least part of the path of the second task path are located in the same restricted area or not; in response to the fact that at least part of the path of the first task path and at least part of the path of the second task path are located in the same limited area, prompt information is obtained, the prompt information is used for prompting that a first risk path and / or a second risk path have operation risks, the first risk path comprises at least part of the path of the first task path, and the second risk path comprises at least part of the path of the second task path; the second risk path comprises at least part of the second task path. According to the path planning method, the movable platform can be prompted to have the risk when working according to the planned path in the path planning stage, so that the planned working path can be adjusted in time, and the risk is avoided in advance.

Description

Technical Field

[0001] The present invention relates to the field of movable platforms, and in particular to a path planning method, device and storage medium for a movable platform. Background Art

[0002] With the rapid development of my country's manufacturing industry, mobile platforms are increasingly involved in human social life, especially in the fields of aerial survey, power line inspection, natural gas (oil) pipeline inspection, forest fire prevention, disaster relief, smart cities, etc. At present, after receiving the planned task path, the mobile platform performs the task operation based on the task path, but sometimes the task path is unreasonable or even risky, which leads to risks when the mobile platform is operating. Summary of the invention

[0003] Based on this, the embodiments of the present application provide a path planning method, device and storage medium for a movable platform, aiming to reduce the irrationality when performing path planning for the movable platform.

[0004] In view of this, the first aspect of the present application provides a path planning method for a movable platform, comprising:

[0005] Displaying a task path of the movable platform on the display module, the task path comprising a first task path and a second task path, wherein at least a portion of the first task path and the second task path are adjacent to each other;

[0006] Determining whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area;

[0007] In response to at least a portion of the first task path and at least a portion of the second task path being located in the same restricted area, prompt information is obtained, wherein the prompt information is used to prompt that there is an operational risk in the first risk path and / or the second risk path, the first risk path includes at least a portion of the first task path, and the second risk path includes at least a portion of the second task path.

[0008] The path planning method provided in the first aspect displays the first task path and the second task path of the movable platform on the display module, determines whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area, and if it is determined that at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area, prompts that there are operation risks in the first task path and the second task path. The method provided in this embodiment can prompt the movable platform that there are risks when operating according to the planned path at the path planning stage, so that the planned operation path can be adjusted in time to avoid risks in advance.

[0009] In a second aspect, an embodiment of the present application further provides a path planning device for a movable platform, the path planning device comprising a processor and a memory, the memory being used to store a computer program, the processor being used to execute the computer program and, when executing the computer program, implement the path planning method as described in the first aspect.

[0010] In a third aspect, an embodiment of the present application further provides a storage medium for computer-readable storage, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the control method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A schematic flowchart of the steps of a path planning method provided in an embodiment of the present application;

[0012] Figure 2 A schematic diagram of a scenario of a path planning method provided in an embodiment of the present application;

[0013] Figure 3 A schematic diagram of another scenario of a path planning method provided in an embodiment of the present application;

[0014] Figure 4 A schematic diagram of another scenario of a path planning method provided in an embodiment of the present application;

[0015] Figure 5 A schematic diagram of another scenario of a path planning method provided in an embodiment of the present application;

[0016] Figure 6 A schematic diagram of another scenario of a path planning method provided in an embodiment of the present application;

[0017] Figure 7 A schematic flowchart of the steps of another path planning method provided in an embodiment of the present application;

[0018] Figure 8A schematic flowchart of the steps of another path planning method provided in an embodiment of the present application;

[0019] Fig. 9 A schematic flowchart of the steps of another path planning method provided in an embodiment of the present application;

[0020] Fig.10 A schematic block diagram of the structure of a path planning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] 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 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.

[0022] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0023] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0024] To facilitate those skilled in the art to understand the technical solutions provided in the embodiments of the present application, the relevant background is described below:

[0025] With the rapid development of my country's manufacturing industry, mobile platforms are increasingly involved in human social life, especially in the fields of aerial survey, power line inspection, natural gas (oil) pipeline inspection, forest fire prevention, disaster relief, smart cities, etc. At present, after receiving the planned task path, the mobile platform performs the task operation based on the task path, but sometimes the task path is unreasonable or even risky, which leads to risks when the mobile platform is operating.

[0026] To solve the above problems, the embodiments of the present application provide a path planning method, device and storage medium for a movable platform, by displaying the first task path and the second task path of the movable platform on a display module, judging whether at least part of the first task path and at least part of the second task path are located in the same restricted area, if it is determined that at least part of the first task path and at least part of the second task path are located in the same restricted area, then prompting that there are operation risks in the first task path and the second task path. The method provided by this embodiment can prompt the movable platform that there are risks when operating according to the planned path at the path planning stage, so that the planned operation path can be adjusted in time to avoid risks in advance.

[0027] In some embodiments, the movable platform is any object that can be moved actively or controlled, including but not limited to unmanned aerial vehicles, manned aerial vehicles, unmanned vehicles, manned vehicles, unmanned ships, manned ships, etc. The path planning device of the movable platform can be used to plan the path of the movable platform. It is understandable that the path planning device can be integrated with the control terminal of the movable platform, or it can be separated from the control terminal of the movable platform. The path planning device includes but is not limited to a remote control, a tablet computer, a laptop computer, a server, a wearable device connected to the mobile platform, etc. In some embodiments, the path planning device can include a display module, and the display module can display the task path of the movable platform. It is understandable that the display module can be integrated with the main body of the above-mentioned path planning device, or it can be separated from the main body of the above-mentioned path planning device, which is not limited here.

[0028] There may be various risks when the movable platform operates according to the planned path. In one embodiment, there is a risk of reduced operating efficiency of the movable platform. By way of example, a possible application scenario is given. The operating width of the automatic tillage machine is 10m. If the interval between two adjacent operating paths is close, such as 2m or 3m, the operating efficiency may be greatly reduced due to repeated operations. In one embodiment, there is a risk of operating safety of the movable platform. By way of example, a possible application scenario is given. The safe operating distance of the movable platform is 10m. That is, when the movable platform is operating, if there are other movable platforms within 10m of the operating path, the above-mentioned movable platform may be at risk of collision during operation.

[0029] However, currently, risk avoidance can only be performed when the movable platform is in operation or by reviewing the historical movement trajectory after the operation is completed.

[0030] The present application embodiment provides a path planning method for a mobile platform, which can be referred to Figure 1 , Figure 1It is a flowchart of a path planning method provided in an embodiment of the present application, and the method may include steps S101 to S103.

[0031] Step S101: displaying a task path of the movable platform on the display module, wherein the task path includes a first task path and a second task path, and the first task path and the second task path are adjacent to each other at least partially.

[0032] In this embodiment, the display module can display the first task path and the second task path of the movable platform, and at least part of the first task path and the second task path are adjacent to each other. This embodiment can intuitively display the task path to the user, so that the user can fully understand the overall overview of the task path.

[0033] In some embodiments, the number of movable platforms may be one or more, which is not limited herein. In one embodiment, the number of movable platforms may be one, in which case the first task path and the second task path may be two adjacent routes in a single operation task, that is, after the movable platform completes the operation along the first task path, it may immediately operate along the second task path, or it may first operate along other operation paths and then operate along the second task path, but from a spatial point of view, there are no other operation paths between the first operation path and the second operation path. In one embodiment, the number of movable platforms may be more than one, in which case the first movable platform corresponds to the first task path, and the second movable platform corresponds to the second task path.

[0034] In some embodiments, the first task path and the second task path of the movable platform may have only partial path segments adjacent, or all paths of the first task path and the second task path may be adjacent, which is not limited here. In one embodiment, the adjacency of the first task path and the second task path can be considered only for the case of a two-dimensional plane. The adjacency in this case can indicate that at least part of the path of the first task path and at least part of the path of the second task path do not intersect, but there are no other task paths between the two. Of course, it can also indicate that at least part of the path of the first task path and at least part of the path of the second task path intersect. In one embodiment, it is necessary to consider the adjacency of the first task path and the second task path from a three-dimensional perspective. In this case, in addition to considering the above-mentioned two-dimensional plane adjacency, it may also be necessary to determine that at least part of the path of the first task path and at least part of the path of the second task path intersect on the vertical plane or that there are no other paths between the two task paths on the vertical plane.

[0035] Step S102: Determine whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area.

[0036] In this embodiment, it is necessary to determine whether at least part of the first task path and at least part of the second task path are located in the same restricted area, and whether there is an operation risk in the first task path and the second task path is determined based on the determination result. It should be understood that the determination process can be performed on a device for path planning, on a mobile platform, or on a cloud server, which is not specifically limited here.

[0037] In some embodiments, the restricted area can be determined based on various methods, such as a map or the task path itself, which is not specifically limited here. In one embodiment, the restricted area is determined by a map, which can be a two-dimensional map or a three-dimensional map. The map can be a low-definition map, a high-definition map or a virtual model, which is not specifically limited here. The task path of the movable platform can be displayed in the above map, and the map can be divided into multiple restricted ranges. For example, the two-dimensional map is divided into 10m x 5m in size, and multiple grids of the map can be obtained, each grid is a restricted range, and each restricted range is a restricted area; if it is a three-dimensional map, a three-dimensional map of a certain height can be taken, for example, the height of the three-dimensional map is limited to 500m, and then the three-dimensional map is divided into 10m x 5m x 5m in size, and multiple three-dimensional grids of the map can be obtained, each three-dimensional grid is a restricted range, and each restricted range is a restricted area. It can be understood that the data in the above embodiments are all exemplary expressions and will not limit the specific protection scope of this embodiment. In one embodiment, the restricted area is determined by a task path, which can be a first task path or a second task path of a movable platform, and is not specifically limited herein. By way of example, the case where the restricted area is determined by a first task path is given, and the area within a first preset distance threshold range around the first task path can be determined as the restricted area. For example, a circle with a radius of 10 m can be drawn around the first task path with the first task path as the center to form a space area similar to a cylinder, and the space area can be determined as the restricted area. It can also be understood that the data in the above embodiments are all exemplary expressions, and will not limit the specific protection scope of this embodiment.

[0038] In some embodiments, there are multiple methods for determining whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area. For example, based on the positions of the first task path and the second task path relative to a reference system, determine whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area. The reference system can be an absolute reference system such as a map, a horizontal plane, or a vertical plane, or a relative reference system such as the first task path or the second task path, which is not limited here. In one embodiment, the reference system is a map. As described above, the map can be a two-dimensional map or a three-dimensional map. A two-dimensional map may include a restricted area formed by multiple grids, and a three-dimensional map may include a restricted area formed by multiple three-dimensional grids. Whether the first task path and the second task path are located in the same restricted area can be determined by determining whether the multiple grids or three-dimensional grids passed by the first task path overlap with the multiple grids or three-dimensional grids passed by the second task path. Please refer to Figure 2 , an example of a judgment method is given, which can be used to divide the ground into Fig.10 A is divided into a plurality of areas, each of which is a restricted area 11A, and a first task path 12A and a second task path 13A are presented on the ground. Fig.10 A, it will pass through multiple restricted areas 11A. When at least part of the first task path 12A and at least part of the second task path 13A are located in the same restricted area such as restricted area 111A and restricted area 112A, it is determined that at least part of the first task path 12A and at least part of the second task path 13A are located in the same restricted area, then, the path segment of the first task path 12A located in the restricted area 111A and the restricted area 112A is the first risk path, and the path segment of the second task path 13A located in the restricted area 111A and the restricted area 112A is the second risk path. It should be understood that when the map is a three-dimensional map, the restricted area is a three-dimensional grid, and the judgment method is similar to that of a two-dimensional map, which will not be repeated. It should be noted that please refer to Figure 3 In one embodiment, the first task path 12B and the second task path 13B may be considered as not just a line, but the width of the movable platform and the working range or safety range need to be considered, so the first task path 12B and the second task path 13B may be considered as including Figure 3 The main part of the task path of the solid line in the middle expands outwards as follows Figure 3The shadow shown represents the extended part of the task path. In this case, even if the main parts of the task paths of the first task path 12B and the second task path 13B are not located in the same restricted area 11B, at least part of the first task path 12B and at least part of the second task path 13B with the extended part of the task path can be located in the same restricted areas 111B and 112B, and at this time, it should be considered that at least part of the first task path 12B and at least part of the second task path 13B are located in the same restricted area. In one embodiment, the reference system is a horizontal plane, and the first task path and the second task path can be projected onto the horizontal plane. If the distance between the projections of at least part of the first task path and at least part of the second task path on the horizontal plane is less than a preset horizontal distance threshold, it can be determined that at least part of the first task path and at least part of the second task path are located in the same restricted area. It can be understood that the case where the reference plane is a vertical plane is similar to the case where the reference plane is a horizontal plane, and will not be repeated here. In one embodiment, the reference system is the second task path, and an area with a preset surrounding distance threshold can be set around the second task path as a restricted area, for example, a cylindrical area of ​​10m around the second task path is used as a restricted area, and if at least part of the first task path falls into the area, it can be considered that at least part of the first task path and at least part of the second task path are located in the same restricted area. It can be understood that the case where the reference plane is the first task path is similar to the case where the reference plane is a horizontal plane, and will not be repeated here.

[0039] Step S103: In response to at least a portion of the first task path and at least a portion of the second task path being located in the same restricted area, obtaining prompt information, wherein the prompt information is used to prompt that there is an operational risk in the first risk path and / or the second risk path, the first risk path including at least a portion of the first task path, and the second risk path including at least a portion of the second task path.

[0040] In this embodiment, if it is determined that at least part of the first task path and at least part of the second task path are located in the same restricted area, prompt information is obtained, and the prompt information is used to prompt that there is a risk path in the first task path and the second task path. The method provided by this embodiment can make it clear that there is a risk path in the task path, thereby alerting the user or laying the foundation for the next action of the system.

[0041] In some embodiments, the forms of operational risks existing in the first risk path and the second risk path are various forms of risks that may be coupled with the task path, which are not limited here. In one embodiment, the operational risk may be a collision risk, that is, when the first movable platform is operating on the first risk path, and the second movable platform is operating on the second risk path at this time, the first movable platform may have a collision risk with the second movable platform. In one embodiment, the operational risk may be a repeated operation risk. For example, when the first movable platform is operating on the first risk path, and the second movable platform is operating on the second risk path at this time, the first risk path and the second risk path may be too close, causing the second movable platform to repeat the operation on part of the area where the first movable platform has already completed the operation, resulting in reduced operation efficiency. Please refer to Figure 4 , Figure 5 , Figure 6 , giving an example of a possible application scenario, the first movable platform and the second movable platform are agricultural aircraft for spraying pesticides, the spraying range of the agricultural aircraft can be set to the operating range desired by the user, the mission path refers to the main part of the mission path of the agricultural aircraft plus the extended part of the mission path, the main part of the mission path can refer to the flight path of the aircraft itself, and the extended part of the mission path can refer to the path expanded due to the operation of the aircraft. Figure 4 In the figure, 20A may refer to the main part of the first task path, 22A may refer to the extended part of the first task path, and 20A and 22A may together constitute the first task path; 21A may refer to the main part of the second task path, 23A may refer to the extended part of the second task path, and 21A and 23A may together constitute the second task path, and 24A may be the restricted area of ​​the first task path, such as Figure 4 As shown, if there is no overlapping area between the first task path and the second task path, it can be determined that at least a portion of the first task path and at least a portion of the second task path are not located in the same restricted area. Figure 5 In the figure, 20B may refer to the main part of the first task path, 22B may refer to the extended part of the first task path, and 20B and 22B may together constitute the first task path; 21B may refer to the main part of the second task path, 23B may refer to the extended part of the second task path, and 21B and 23B may together constitute the second task path, and 24B may be the restricted area of ​​the first task path, such as Figure 5 As shown, part of the second task path overlaps with the extended portion 22B of the first task path, but does not overlap with the restricted area 24B of the first task path. It can still be considered that at least part of the first task path and at least part of the second task path are not located in the same restricted area. Figure 6In the figure, 20C may refer to the main part of the first task path, 22C may refer to the extended part of the first task path, and 20C and 22C may together constitute the first task path; 21C may refer to the main part of the second task path, 23C may refer to the extended part of the second task path, and 21C and 23C may together constitute the second task path, and 24C may be the restricted area of ​​the first task path, such as Figure 6 As shown, part of the second task path not only overlaps with the extended part 22C of the first task path, but also overlaps with the restricted area 24C of the first task path. It can still be considered that at least part of the first task path and at least part of the second task path are located in the same restricted area. The above embodiment solves the problem of repeated operations resulting in low operation efficiency and no supervision, and can promptly feedback the repeated operation situation to the user or system, so that the user or system can respond quickly. It should be understood that Figure 4 , Figure 5 as well as Figure 6 In the illustrated embodiment, the first task path and the second task path do not necessarily correspond to two movable platforms, but may correspond to two adjacent operation paths of a movable platform, which can also solve the problem of a movable platform performing repetitive operations without human supervision.

[0042] In some embodiments, the above prompt information can be directly output to the user or to the system, which is not limited here. In one embodiment, the prompt information generated after judging that at least part of the first task path and at least part of the second task path are located in the same restricted area is directly output to the user, for example, the position of the risk path in the first task path and the second task path is displayed on the display module, such as representing the risk path with different line segment models or different colors, etc. Of course, the user can also be prompted by means other than vision, such as using sound to prompt the position of the first risk path and / or the second risk path, etc. In one embodiment, the above prompt information can be only used to output to the system, such as output to a device or a movable platform for path planning, rather than directly output to the user. For example, after judging that at least part of the first task path and at least part of the second task path are located in the same restricted area, a result program character 1 is generated, which is output to a system including a device for path planning and a movable platform, wherein the program character 1 can indicate that there is a risk path in the first task path and the second task path. Of course, it can be understood that any possible program code form can be used as a prompt information, which is not limited here.

[0043] In some embodiments, the above-mentioned prompt information can be transmitted to the mobile platform, or it can be transmitted to the device for path planning, which is not limited here. In one embodiment, the prompt information can be transmitted to the mobile platform. If the mobile platform receives the prompt information that there is a first risk path and / or a second risk path, the first task path and / or the second task path can be changed by the mobile platform end so that the first risk path and the second risk path are not located in the same restricted area. In one embodiment, the prompt information can be transmitted to the device for path planning. The prompt information can be a program character such as 0 or 1, so that the system automatically changes the first task path and / or the second task path on the device for path planning. The prompt information can also be a sound, light or visual prompt to the user. For example, the prompt information can be a highlight display of the first risk path and / or the second risk path on the display module, such as a color mark, a display line mark, a text box mark, etc., to remind the user that there is an operation risk in this path segment.

[0044] In some embodiments, after obtaining the prompt information of the risk path in the above embodiment, the movable platform or the device or user for path planning or any combination of the above can adjust the first risk path and / or the second risk path so that the first risk path and the second risk path are not located in the same restricted area. It can be understood that there are many ways for the adjustment instruction to adjust the task path, such as adjusting the horizontal distance between the two paths or adjusting the height of the two paths, etc., which are not limited here. In one embodiment, the adjustment instruction can be used to adjust the distance difference between the first risk path and the second risk path on the horizontal plane, so that the first risk path and the second risk path are not located in the same restricted area due to the large distance difference on the horizontal plane. In one embodiment, the adjustment instruction can be used to adjust the height difference between the first risk path and the second risk path, so that the first risk path and the second risk path are not located in the same restricted area due to the large height difference. It should be understood that the above adjustment instruction can be used to adjust the entire path of the first task path and / or the second task path, or only adjust the first risk path and / or the second risk path in the first task path and / or the second task path, which is not limited here.

[0045] In one embodiment, the adjustment instruction adjusts the first task path and / or the second task path to obtain the first change path and / or the second change path, and the first change path and / or the second change path can be stored so that the first change path and / or the second change path can be retrieved when needed, and the first change path and / or the second change path can be sent to the movable platform so that the movable platform can operate according to the first change path and / or the second change path. In another embodiment, the first change path and / or the second change path can be directly sent to the movable platform so that the movable platform can operate according to the first change path and / or the second change path.

[0046] In one embodiment, there is more than one risk path, that is, the first risk path and / or the second risk path includes multiple sub-risk paths. In this embodiment, it can be determined that all sub-risk paths have operational risks, and the locations of all sub-risk paths can also be displayed on the display module so that the user can clearly know the specific locations of the multiple risk paths and make correct decisions.

[0047] In some embodiments, the steps in the path planning method are to obtain prompt information in response to at least a portion of the first task path and at least a portion of the second task path being located in the same restricted area, specifically including: in response to the first risk path and the second risk path being located in the same restricted area, and the time difference between the first arrival time and the second arrival time is less than a preset time difference threshold, obtaining prompt information, wherein the first arrival time is used to represent the time when the first movable platform arrives at the first risk path, and the second arrival time is used to represent the time when the second movable platform arrives at the second risk path.

[0048] In this embodiment, in addition to determining that the first risk path and / or the second risk path exist in the first task path and / or the second task path, it is also necessary to determine whether the time difference between the time when the first movable platform reaches the first risk path and the time when the second movable platform reaches the second risk path is less than the time difference threshold. Only in this case can the acquisition of prompt information be triggered. This embodiment not only considers the risks that may exist in the space between the first task path and the second task path, but also incorporates the time dimension into the evaluation criteria, making the criteria for evaluating whether there is a risk more accurate.

[0049] See also Figure 7 , Figure 7 1 is a schematic diagram of the steps of another path planning method provided in an embodiment of the present application. The path planning method is used to facilitate the quick generation of a suitable task path.

[0050] like Figure 7 As shown, the path planning method also includes steps S201 to S202.

[0051] S201. Acquire a first mission point and a second mission point of the movable platform, wherein the first mission point is used to represent a first position point passed by the movable platform, and the second mission point is used to represent a second position point passed by the movable platform, and the first position point is different from the second position point.

[0052] In this embodiment, a first task point and a second task point determined based on the user's selection may be obtained, and the movable platform needs to pass through the first task point and the second task point when performing an operation.

[0053] In one embodiment, the first mission point may be a mission starting point selected by the user, and the second mission point may be a mission end point selected by the user. In another embodiment, the first mission point and the second mission point may be any two points that the movable platform needs to pass during the mission.

[0054] S202. Generate the task path based on the first task point, the second task point and a path database, wherein the path database is used to store historical paths between the first task point and the second task point, and the task path is one of the historical paths between the first task point and the second task point.

[0055] In this embodiment, the historical path of the movable platform passing through the first task point and the second task point in the historical task can be stored, and the historical path can be one or more, which is not limited here. The storage of the historical path passing through the first task point and the second task point can be the complete storage of all historical paths or the selective storage of some paths, which is not limited here. When the user is planning the path, the first task point and the second task point can be determined based on the user's choice. The solution in this embodiment can retrieve the historical path passing through the first task point and the second task point based on the first task point and the second task point, so as to recommend a suitable task path to the user. It is understandable that all historical paths passing through the first task point and the second task point can be pushed to the user, allowing the user to choose a desired operation path by himself, or a suitable one can be selected in the path database and pushed directly to the user, which is not limited here.

[0056] The method provided in this embodiment does not require the user to plan the task path between each task point in detail. Instead, the user only needs to select the task point and the appropriate task path will be automatically pushed to the user, which greatly simplifies the process of task path planning for the user and improves the user experience.

[0057] In some embodiments, there is no direct historical path between the first task point and the second task point in the path database. In one embodiment, there is also a third task point between the first task point and the second task point, and the third task point can be on the line connecting the first task point and the second task point, or can be outside the line connecting the first task point and the second task point, which is not limited here. Among them, there is a direct historical path between the first task point and the third task point in the path database, and there is a direct historical path between the second task point and the third task point in the path database. After determining the above-mentioned first task point and the second task point based on the user's selection, since there is no direct historical path between the first task point and the second task point in the path database, a direct historical path cannot be generated, so it is necessary to determine the third task point. The direct historical path between the first task point and the third task point and the direct historical path between the second task point and the third task point can be spliced ​​to obtain the task path between the first task point and the second task point passing through the third task point. It should be understood that there are many ways to determine the third task point, which are not limited here. In one embodiment, the third task point can be determined based on the user's selection, for example, the user selects in the recommended task point list. In one embodiment, the third task point can be automatically determined by a device performing path planning or a movable platform or other control terminal of the movable platform, for example, by searching whether there is a third task point within a preset threshold range of the line connecting the first task point and the second task point, wherein, if there are multiple third task points that meet the requirements within the preset threshold range, then the task point with the shortest total path after splicing the direct historical path between the first task point and the third task point and the direct historical path between the second task point and the third task point can be selected as the final third task point; alternatively, the path safety factor can be taken into consideration, and the task point with the highest safety factor can be selected as the final third task point.

[0058] See also Figure 8 , Figure 8 1 is a schematic diagram of the steps of another path planning method provided in an embodiment of the present application. The method is used to adjust the control authority of different control terminals of the mobile platform over the mobile platform.

[0059] like Figure 8 As shown, the path planning method includes steps S301 to S302.

[0060] Step S301: predicting the endurance of the mobile platform based on the state information of the mobile platform and the environmental information of the task path, wherein the state information includes at least one of the load of the mobile platform and the power of the mobile platform.

[0061] This embodiment can predict the endurance of a mobile platform and provide a more accurate estimate of whether the mobile platform can successfully complete a predetermined task. There are many methods for estimating the endurance of a mobile platform, such as establishing a preset algorithm model, and outputting an estimation result according to the algorithm model after a given input.

[0062] In some embodiments, the state information of the mobile platform includes the load of the mobile platform or the power of the mobile platform or the load of the mobile platform plus the power of the mobile platform, which is not limited here. Incorporating the state information of the mobile platform into the estimation of the endurance of the mobile platform can greatly improve the accuracy of the estimation.

[0063] In some embodiments, the environmental information of the task path may include weather information, obstacle information, wireless signal strength information, etc. of the task path, which are not limited here. It is understandable that different weather conditions will have different effects on the endurance of the mobile platform. For example, rainy days or strong winds may affect the power performance of the mobile platform, and the mobile platform may need to increase the output power of the power system, thereby reducing the endurance of the mobile platform; the number of obstacles will also affect the endurance of the mobile platform. For example, an environment with more obstacles may trigger the obstacle avoidance behavior of the mobile platform more frequently, causing the mobile platform to move more, thereby reducing the endurance of the mobile platform; the strength of the wireless signal will also affect the endurance of the mobile platform. For example, an environment with weak wireless signal strength may trigger the mobile platform to interrupt the currently executed task, so that the mobile platform performs additional movements or fails to complete the scheduled task. Furthermore, an environment with weak wireless signal strength may require the mobile platform to increase the power of the signal receiver, thereby accelerating the consumption of the battery power of the mobile platform, resulting in a reduction in the endurance of the mobile platform.

[0064] Step S302: If it is determined based on the endurance that the movable platform cannot complete the task path, controlling the movable platform to perform the task through the first control terminal is prohibited, and the first control terminal controls the movable platform through a signal relay device.

[0065] In this embodiment, the control authority of the movable platform is limited, making the operation of the movable platform safer.

[0066] In some embodiments, there are multiple ways to determine that the mobile platform cannot complete the task path based on the battery life, which are not limited here. In one embodiment, the battery life of the mobile platform can be compared with the battery life required for the mobile platform to complete the above task path. If the current battery life of the mobile platform is less than the battery life required for the mobile platform to complete the above task path, it can be determined that the mobile platform cannot complete the above task path.

[0067] In one embodiment, the signal relay equipment includes 4G or 5G signal towers, handheld signal repeaters, relay drones, relay airports, etc. It only requires that the control signal to the movable platform transmitted by the first control terminal cannot directly reach the movable platform, but is forwarded at least once through the signal relay equipment. The specific method is not limited here.

[0068] In some embodiments, there are many ways to prohibit the first control terminal from controlling the movable platform to perform tasks, which are not limited here. In one embodiment, if the movable platform is an aircraft, the take-off behavior of the aircraft can be prohibited; in one embodiment, if the movable platform is a vehicle, the starting behavior of the vehicle can be prohibited. In another embodiment, the movable platform can be controlled to stay in place or return to the starting point after moving only a preset distance.

[0069] An example of a possible application scenario is given. The above-mentioned first control terminal is a server that controls the movable platform through a cellular network. Due to the need to use a signal relay device, in many cases, for users who use the first control terminal to control the movable platform, the movable platform may operate beyond line of sight, that is, the user is not very clear about the operating environment of the movable platform. In order to prevent the user's operation from causing damage to the movable platform, it is prohibited to control the movable platform to perform tasks through the first control terminal in this case.

[0070] In some embodiments, the above path planning method further includes step S303.

[0071] Step S303: If it is determined based on the endurance that the movable platform cannot complete the task path, the movable platform is allowed to be controlled to perform the task through a second control terminal, and the second control terminal controls the movable platform through point-to-point communication.

[0072] In some embodiments, the above-mentioned point-to-point communication method can be a method of directly communicating with the mobile platform without going through a signal relay device. The above-mentioned second control terminal can include a remote control of the mobile platform or a smart phone, tablet computer, wearable device, etc. that controls the mobile platform, which is not limited here.

[0073] An example of a possible application scenario is given, in which the second control terminal is a remote controller that communicates directly with the mobile platform. Since the second control terminal can communicate directly with the mobile platform, in most cases, the distance between the second control terminal and the mobile platform is relatively close, and the user using the second control terminal can often understand the environment of the location of the mobile platform very clearly, so the user has a higher priority control authority. In another case, since the user using the second control terminal can often understand the environment of the location of the mobile platform very clearly, in some cases the battery life of the mobile platform is indeed insufficient, but there are emergencies on site, such as rescue and other crisis situations. Even if the battery life of the mobile platform is insufficient, the mobile platform is still needed to operate, so a higher priority control authority is opened for the user using the second control terminal.

[0074] See also Fig. 9 , Fig. 9 1 is a schematic diagram of the steps of another path planning method provided in an embodiment of the present application. The method is used to monitor the health status of a mobile platform and to prompt a user who controls the mobile platform.

[0075] like Fig. 9 As shown, the method includes step S401.

[0076] Step S401: If there is an abnormality in the health status of the movable platform, abnormal alarm information is sent to the second control terminal corresponding to the movable platform, so that the second control terminal issues an alarm, and the second control terminal controls the movable platform through point-to-point communication.

[0077] In some embodiments, there are various situations in which the health status of the mobile platform is abnormal, such as abnormal battery power of the mobile platform or a loose battery, or abnormal image transmission signal of the mobile platform, or abnormal sensor data of the mobile platform, etc., which are not limited here.

[0078] In some embodiments, there are multiple ways for the mobile platform to sound an alarm, such as emitting an alarm sound, or using flashing lights to sound an alarm, or popping up a prompt on the screen of the second control terminal, or a combination of the above solutions, etc., which are not limited here.

[0079] In one embodiment, there is a situation where a user needs to use multiple remote controllers to control multiple corresponding mobile platforms at the same time. At this time, if a certain mobile platform has an abnormality and the user needs to intervene to control the mobile platform, the user may not be able to know the corresponding status of the remote controller and the mobile platform. At this time, if the mobile platform can send the abnormality information to the corresponding second control terminal, the user can easily know which specific mobile platform has a problem, so as to intervene more quickly to solve the problem.

[0080] In some embodiments, the above-mentioned path planning method further includes step S402.

[0081] Step S402: if the health status of the movable platform is abnormal, display the abnormal health status information on the display module; receive the trigger information of the abnormal alarm control of the first control terminal by the user; and send the abnormal alarm information to the second control terminal.

[0082] In this embodiment, the first control terminal communicates with the mobile platform through a relay device, and the second control terminal communicates with the mobile platform in a point-to-point manner. This method allows the user to screen abnormal information and filter some abnormal information that does not require an alarm.

[0083] In one embodiment, as described above, there are multiple abnormal health status information of the mobile platform, but different abnormal information has different impacts on the mobile platform. For example, the mobile platform prompts abnormal power. Considering the operational risk of the mobile platform, the abnormal information has a greater impact on the mobile platform, or the mobile platform prompts abnormal backup sensor data. Considering that the sensors of the mobile platform are redundant, even if a backup sensor is broken, it will not have much impact on the normal operation of the mobile platform. The abnormal information has a small impact on the mobile platform. If each abnormal information is sent to the second control terminal, so that the second control terminal alarms, so that the user intervenes in the control, the user may be in a hurry and unable to control the mobile platform that needs intervention the most. Therefore, in one embodiment, the abnormal alarm information can be graded in importance. The greater the risk of the operation of the mobile platform, the more important the abnormal alarm information is, and the abnormal alarm information with an importance above the preset level is sent to the second control terminal. In another embodiment, at least part of the abnormal alarm information may be first sent to a user using a first control terminal. After the user using the first control terminal screens the abnormal alarm information, the alarm control for the abnormal alarm information that is considered to pose a greater threat to the operation of the movable platform is triggered. After being triggered, the abnormal alarm information may be sent to a second control terminal to cause the second control terminal to issue an alarm.

[0084] The path planning method in the embodiment of the present invention is described above. The path planning device in the embodiment of the present invention is described below:

[0085] See also Fig.10 , Fig.10 It is a schematic block diagram of the structure of a path planning device provided in an embodiment of the present application.

[0086] like Fig.10 As shown, the flight control device 140 includes a processor 141 and a memory 142 , and the processor 141 and the memory 142 are connected via a bus 143 , and the bus 143 is, for example, an I2C (Inter-integrated Circuit) bus.

[0087] Specifically, the processor 141 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0088] Specifically, the memory 142 may be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0089] The processor 141 is used to run the computer program stored in the memory 142, and implement the following steps when executing the computer program:

[0090] Displaying a task path of the movable platform on the display module, the task path comprising a first task path and a second task path, wherein at least a portion of the first task path and the second task path are adjacent to each other;

[0091] Determining whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area;

[0092] In response to at least a portion of the first task path and at least a portion of the second task path being located in the same restricted area, prompt information is obtained, wherein the prompt information is used to prompt that there is an operational risk in the first risk path and / or the second risk path, the first risk path includes at least a portion of the first task path, and the second risk path includes at least a portion of the second task path.

[0093] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0094] The prompt information is sent to the movable platform, so that the movable platform adjusts the first risk path and / or the second risk path, so that the first risk path and the second risk path are not located in the same restricted area.

[0095] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0096] An adjustment instruction is obtained, where the adjustment instruction is used to adjust the first risk path and / or the second risk path so that the first risk path and the second risk path are not located in the same restricted area.

[0097] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0098] Acquire a first change path and / or a second change path, wherein the first change path is obtained by adjusting the first task path based on the adjustment instruction, and the second change path is obtained by adjusting the second task path based on the adjustment instruction;

[0099] The first modified path and / or the second modified path are sent to the movable platform, so that the movable platform moves according to the first modified path and / or the second modified path.

[0100] Optionally, in some embodiments of the present invention, the movable platform includes an aircraft, and the adjustment instruction is used to adjust the height difference between the first risk path and the second risk path; and / or the adjustment instruction is used to adjust the distance difference between the first risk path and the second risk path on the horizontal plane.

[0101] Optionally, in some embodiments of the present invention, there are multiple movable platforms, and the movable platforms include a first movable platform and a second movable platform, the first movable platform corresponds to the first task path, and the second movable platform corresponds to the second task path.

[0102] Optionally, in some embodiments of the present invention, when the processor 141 implements acquiring the prompt information in response to at least a portion of the first task path and at least a portion of the second task path being located in the same restricted area, it is further configured to implement:

[0103] In response to the first risk path and the second risk path being located in the same restricted area, and the time difference between the first arrival time and the second arrival time being less than a preset time difference threshold, prompt information is obtained, wherein the first arrival time is used to characterize the time when the first movable platform arrives at the first risk path, and the second arrival time is used to characterize the time when the second movable platform arrives at the second risk path.

[0104] Optionally, in some embodiments of the present invention, the restricted area is determined based on a map, and the map is used to plan the task path; or the restricted area is determined based on the task path.

[0105] Optionally, in some embodiments of the present invention, when the restricted area is determined based on the map, the processor 141 is further configured to implement the following steps:

[0106] Dividing a plurality of restricted ranges based on the map;

[0107] Each of the restricted ranges is determined as a restricted area.

[0108] In the case where the restricted area is determined based on the task path, the processor 141 is further configured to implement the following steps:

[0109] The restricted area is determined around the task path based on a first preset distance threshold.

[0110] Optionally, in some embodiments of the present invention, when determining whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area, the processor 141 is further configured to implement:

[0111] According to the positions of the first task path and the second task path relative to a reference system, it is determined whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area.

[0112] Optionally, in some embodiments of the present invention, the reference system includes at least one of a map, a horizontal plane, a vertical plane, the first task path, and the second task path, and the map is used to plan the task path.

[0113] Optionally, in some embodiments of the present invention, the first risk path and / or the second risk path includes multiple sub-risk paths, and the processor 141 is further used to implement the following when acquiring prompt information, wherein the prompt information is used to prompt that the first risk path and / or the second risk path has an operation risk:

[0114] Determine that all of the sub-risk paths described have operational risks.

[0115] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0116] The first risk path and / or the second risk path are displayed on the display module.

[0117] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0118] Acquire a first mission point and a second mission point of the movable platform, wherein the first mission point is used to represent a first position point passed by the movable platform, and the second mission point is used to represent a second position point passed by the movable platform, and the first position point is different from the second position point;

[0119] The task path is generated based on the first task point, the second task point and a path database, wherein the path database is used to store historical paths between the first task point and the second task point, and the task path is one of the historical paths between the first task point and the second task point.

[0120] Optionally, in some embodiments of the present invention, the path database does not store the historical path between the first task point and the second task point, the path database stores the historical path between the first task point and the third task point and the historical path between the third task point and the second task point, the third task point is different from the first task point and the second task point, the first task point is used to represent the first position point passed by the movable platform, the second task point is used to represent the second position point passed by the movable platform, the first position point is different from the second position point, and the processor 141 is further used to implement the following steps:

[0121] Generate a third task path based on the first task point, the third task point and the path database, wherein the third task path is a path between the first task point and the third task point, and the third task path is one of the historical paths between the first task point and the third task point;

[0122] Generate a fourth task path based on the third task point, the second task point and the path database, wherein the fourth task path is a path between the third task point and the second task point, and the fourth task path is one of the historical paths between the third task point and the second task point;

[0123] The task path is generated, where the task path is obtained by concatenating the third task path and the fourth task path.

[0124] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0125] Predicting the endurance of the mobile platform based on the state information of the mobile platform and the environmental information of the task path, wherein the state information includes at least one of the load of the mobile platform and the power of the mobile platform;

[0126] If it is determined based on the endurance that the movable platform cannot complete the task path, controlling the movable platform to perform the task through the first control terminal is prohibited, and the first control terminal controls the movable platform through a signal relay device.

[0127] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0128] If it is determined based on the endurance that the movable platform cannot complete the task path, the movable platform is allowed to be controlled to perform the task via a second control terminal, and the second control terminal controls the movable platform via point-to-point communication.

[0129] Optionally, in some embodiments of the present invention, the processor 141 is further configured to implement the following steps:

[0130] If there is an abnormality in the health status of the movable platform, abnormal alarm information is sent to the second control terminal corresponding to the movable platform, so that the second control terminal issues an alarm, and the second control terminal controls the movable platform through point-to-point communication.

[0131] Optionally, in some embodiments of the present invention, the device for performing path planning is a first control terminal of the movable platform, and the first control terminal controls the movable platform through a signal relay device. When the processor 141 sends abnormal alarm information to a second control terminal corresponding to the movable platform if there is an abnormality in the health state of the movable platform, it is also used to implement:

[0132] If the health status of the mobile platform is abnormal, displaying abnormal health status information on the display module;

[0133] Receiving triggering information of an abnormal alarm control of the first control terminal from a user;

[0134] The abnormal alarm information is sent to the second control terminal.

[0135] An embodiment of the present application also provides a storage medium that is readable by a computer, and the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the path planning method provided in the above embodiment.

[0136] The storage medium may be an internal storage unit of the mobile platform described in any of the above embodiments, such as a hard disk or memory of the mobile platform. The storage medium may also be an external storage device of the mobile platform, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the mobile platform.

[0137] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware embodiment, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0138] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system 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 system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0139] The serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A path planning method for a movable platform, characterized in that: A device for performing path planning, the device comprising a display module, and the method comprising: Displaying a task path of the movable platform on the display module, the task path comprising a first task path and a second task path, wherein at least a portion of the first task path and the second task path are adjacent to each other; Determining whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area; In response to at least a portion of the first task path and at least a portion of the second task path being located in the same restricted area, prompt information is obtained, wherein the prompt information is used to prompt that there is an operational risk in the first risk path and / or the second risk path, the first risk path includes at least a portion of the first task path, and the second risk path includes at least a portion of the second task path.

2. The method according to claim 1, characterized in that The method further comprises: The prompt information is sent to the movable platform, so that the movable platform adjusts the first risk path and / or the second risk path, so that the first risk path and the second risk path are not located in the same restricted area.

3. The method according to claim 1, characterized in that The method further comprises: An adjustment instruction is obtained, where the adjustment instruction is used to adjust the first risk path and / or the second risk path so that the first risk path and the second risk path are not located in the same restricted area.

4. The method according to claim 3, characterized in that The method further comprises: Acquire a first change path and / or a second change path, wherein the first change path is obtained by adjusting the first task path based on the adjustment instruction, and the second change path is obtained by adjusting the second task path based on the adjustment instruction; The first changed path and / or the second changed path are sent to the movable platform, so that the movable platform moves according to the first changed path and / or the second changed path.

5. The method according to claim 3, characterized in that: The movable platform includes an aircraft, and the adjustment instruction is used to adjust the first risk path and / or the second risk path, including: The adjustment instruction is used to adjust the height difference between the first risk path and the second risk path; and / or The adjustment instruction is used to adjust the distance difference between the first risk path and the second risk path on a horizontal plane.

6. The method according to any one of claims 1 to 5, characterized in that There are multiple movable platforms, including a first movable platform and a second movable platform. The first movable platform corresponds to the first task path, and the second movable platform corresponds to the second task path.

7. The method according to claim 6, characterized in that In response to at least a portion of the first task path and at least a portion of the second task path being located in the same restricted area, acquiring prompt information includes: In response to the first risk path and the second risk path being located in the same restricted area, and the time difference between the first arrival time and the second arrival time being less than a preset time difference threshold, prompt information is obtained, wherein the first arrival time is used to characterize the time when the first movable platform arrives at the first risk path, and the second arrival time is used to characterize the time when the second movable platform arrives at the second risk path.

8. The method according to any one of claims 1 to 5, characterized in that The restricted area is determined based on a map, and the map is used to plan the task path; or The restricted area is determined based on the task path.

9. The method according to claim 8, characterized in that In the case where the restricted area is determined based on the map, the method further includes: Dividing a plurality of restricted ranges based on the map; Determine each of the restricted ranges as a restricted area; In the case where the restricted area is determined based on the task path, the method further includes: The restricted area is determined around the task path based on a first preset distance threshold.

10. The method according to any one of claims 1 to 5, characterized in that The determining whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area includes: According to the positions of the first task path and the second task path relative to a reference system, it is determined whether at least a portion of the first task path and at least a portion of the second task path are located in the same restricted area.

11. The method according to claim 10, characterized in that The reference system includes at least one of a map, a horizontal plane, a vertical plane, the first task path, and the second task path, and the map is used to plan the task path.

12. The method according to any one of claims 1 to 5, characterized in that The first risk path and / or the second risk path includes a plurality of sub-risk paths, and the obtaining of prompt information, wherein the prompt information is used to prompt that the first risk path and / or the second risk path has an operation risk, includes: Determine that all of the sub-risk paths described have operational risks.

13. The method according to any one of claims 1 to 5, characterized in that After obtaining the prompt information, the method further includes: The first risk path and / or the second risk path are displayed on the display module.

14. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Acquire a first mission point and a second mission point of the movable platform, wherein the first mission point is used to represent a first position point passed by the movable platform, and the second mission point is used to represent a second position point passed by the movable platform, and the first position point is different from the second position point; The task path is generated based on the first task point, the second task point and a path database, wherein the path database is used to store historical paths between the first task point and the second task point, and the task path is one of the historical paths between the first task point and the second task point.

15. The method according to any one of claims 1 to 5, characterized in that The path database does not store a historical path between the first mission point and the second mission point, the path database stores a historical path between the first mission point and the third mission point and a historical path between the third mission point and the second mission point, the third mission point is different from the first mission point and the second mission point, the first mission point is used to represent a first position point passed by the movable platform, the second mission point is used to represent a second position point passed by the movable platform, the first position point is different from the second position point, and the method further includes: Generate a third task path based on the first task point, the third task point and the path database, wherein the third task path is a path between the first task point and the third task point, and the third task path is one of the historical paths between the first task point and the third task point; Generate a fourth task path based on the third task point, the second task point and the path database, wherein the fourth task path is a path between the third task point and the second task point, and the fourth task path is one of the historical paths between the third task point and the second task point; The task path is generated, where the task path is obtained by concatenating the third task path and the fourth task path.

16. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Predicting the endurance of the mobile platform based on the state information of the mobile platform and the environmental information of the task path, wherein the state information includes at least one of the load of the mobile platform and the power of the mobile platform; If it is determined based on the endurance that the movable platform cannot complete the task path, controlling the movable platform to perform the task through the first control terminal is prohibited, and the first control terminal controls the movable platform through a signal relay device.

17. The method according to claim 16, characterized in that The method further comprises: If it is determined based on the endurance that the movable platform cannot complete the task path, the movable platform is allowed to be controlled to perform the task via a second control terminal, and the second control terminal controls the movable platform via point-to-point communication.

18. The method according to any one of claims 1 to 5, characterized in that The method further comprises: If there is an abnormality in the health status of the movable platform, abnormal alarm information is sent to the second control terminal corresponding to the movable platform, so that the second control terminal issues an alarm, and the second control terminal controls the movable platform through point-to-point communication.

19. The method according to claim 18, characterized in that The device for path planning is a first control terminal of the mobile platform, the first control terminal controls the mobile platform through a signal relay device, and if there is an abnormality in the health state of the mobile platform, an abnormality alarm message is sent to a second control terminal corresponding to the mobile platform, including: If the health status of the mobile platform is abnormal, displaying abnormal health status information on the display module; Receiving triggering information of an abnormal alarm control of the first control terminal from a user; The abnormal alarm information is sent to the second control terminal.

20. A path planning device for a movable platform, characterized in that: The device comprises: a storage device for storing program instructions; and One or more processors are used to call program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the method according to any one of claims 1-19.

21. A storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 19 are implemented.

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