Path planning method and device for movable platform, control method and device and related equipment

Abstract

The invention discloses a movable platform path planning method. The method comprises the following steps: obtaining target information related to the position of a target operation area; according to the target information, a target path of the movable platform is planned, the target path comprises a first sub-path, a second sub-path and a third sub-path which are adjacent in sequence, and the first sub-path, the second sub-path and the third sub-path are located in the target operation area and define a first sub-area, a second sub-area and a third sub-area respectively, the second sub-region is located in the first sub-region, and the third sub-region is located in the second sub-region; a first distance between the path point on the first sub-path and the path point closest to the second sub-path is different from a second distance between the path point on the second sub-path and the path point closest to the third sub-path; a first operation mode corresponding to the movable platform when the movable platform uses the first sub-path for operation and / or a second operation mode corresponding to the movable platform when the movable platform uses the second sub-path for operation are / is related to the first interval. A second operation mode corresponding to the movable platform when the movable platform uses the second sub-path for operation and / or a third operation mode corresponding to the movable platform when the movable platform uses the third sub-path for operation are / is related to the second interval, and at least two operation modes in the first operation mode, the second operation mode and the third operation mode are different. According to the method, the full coverage of the operation and the optimization of the operation efficiency can be realized.

Description

Path planning method, control method and device for movable platform and related equipment TECHNICAL FIELD

[0001] The present application relates to the technical field of path planning, in particular to a path planning method, a control method, a device, a movable platform, a system and a storage medium. BACKGROUND

[0002] Before work, a movable platform usually needs to plan a work path, and then work based on the planned path. At present, a parallel line planning method is usually used to plan a path. However, for some specific shapes of work areas, because the area size is limited, for example, the maximum transverse size of the work area is greatly different from the maximum longitudinal size, or the work area has an inwardly recessed concave part, and the like, the conventional parallel line path planning method cannot achieve full coverage of the work area, and the number of U-turns is too large, which seriously affects the work efficiency and work coverage effect of the movable platform during work.

[0003] SUMMARY

[0004] Therefore, the embodiments of the present application provide a path planning method, a control method, a device, a movable platform, a system and a storage medium for a movable platform, which are aimed at planning a path that can fully cover a work area, so as to achieve full coverage and improve work efficiency.

[0005] In a first aspect, the embodiments of the present application provide a path planning method for a movable platform, comprising:

[0006] obtaining target information related to the position of a target work area;

[0007] planning a target path of the movable platform according to the target information;

[0008] wherein the target path comprises a first sub-path, a second sub-path and a third sub-path that are adjacent in sequence, the first sub-path, the second sub-path and the third sub-path are located in the target work area and each respectively enclose a first sub-area, a second sub-area and a third sub-area, the second sub-area is located in the first sub-area, and the third sub-area is located in the second sub-area;

[0009] a first distance between a path point on the first sub-path and a nearest path point on the second sub-path is different from a second distance between a path point on the second sub-path and a nearest path point on the third sub-path;

[0010] The first operation mode corresponding to the movable platform when using the first sub-path for operation and / or the second operation mode corresponding to the movable platform when using the second sub-path for operation is related to the first interval, the second operation mode corresponding to the movable platform when using the second sub-path for operation and / or the third operation mode corresponding to the movable platform when using the third sub-path for operation is related to the second interval, and at least two of the first operation mode, the second operation mode and the third operation mode are different.

[0011] The path planning method provided in the first aspect is performed in the manner of "different intervals between different inner and outer paths combined with multiple different operation modes supported by the movable platform", and in the case where the size of the target operation area is limited, a multi-layer surrounding path with different intervals is obtained, so that the movable platform can perform operation by changing the operation mode when using the multi-layer surrounding path with different intervals for operation, full operation coverage is achieved, and operation efficiency is improved.

[0012] In the second aspect, the embodiments of the present application further provide a path planning method of a movable platform, comprising:

[0013] obtaining target information related to the position of a target operation area;

[0014] planning a target path of the movable platform according to the target information;

[0015] The target path comprises a first sub-path and a second sub-path, the first sub-path and the second sub-path are both located in the target operation area, the first sub-path forms a first sub-region, the second sub-path is located in the first sub-region, the second sub-path comprises a plurality of discrete distributed path segments, and the plurality of discrete distributed path segments are not connected to each other and do not surround each other.

[0016] The path planning method provided in the second aspect is performed in the manner of "an outer path surrounding a plurality of discrete distributed path segments in the inside", and in the case where it is difficult to consider using an equal interval mode everywhere, some regions (for example, regions where full operation coverage has been achieved) are abandoned, and a second sub-path is planned in the remaining other operation regions, so that operation efficiency is improved, and the side effects and low efficiency caused by repeated planning or repeated operation are avoided.

[0017] In the third aspect, the embodiments of the present application further provide a path planning method of a movable platform, comprising:

[0018] obtaining target information related to the position of a target operation area, wherein the target operation area is non-rectangular;

[0019] According to the target information, a target path of the movable platform is planned;

[0020] The target path includes a first sub-path and a second sub-path, the second sub-path is located in a first sub-region enclosed by the first sub-path, and the second sub-path is planned in a manner different from that of the first sub-path.

[0021] The distribution of the second sub-path is related to a relative position relationship between a first virtual circle and a second virtual circle, the first virtual circle includes a circle with a first path point of the first sub-path as a center and a first preset distance as a radius, the second virtual circle includes a circle with a second path point of the first sub-path as a center and the first preset distance as a radius, and a virtual line between the first path point and the second path point is perpendicular to at least one of path segments where the first path point and the second path point are located.

[0022] The relative position relationship includes a case that a shortest distance between circumferences of the first virtual circle and the second virtual circle is less than four times the first preset distance, and the first preset distance is half of a working range of the movable platform when working on the first sub-path.

[0023] The third aspect provides a path planning method, which determines the distribution of an inner path based on an association relationship between a plurality of relatively arranged virtual circles on an outer path, and plans the path by taking path points on the outer path as centers of the virtual circles and taking a working range as a diameter, and the relative position relationship includes a case that a shortest distance between circumferences of the first virtual circle and the second virtual circle is less than four times the first preset distance, that is, a condition for normal inward shrinking by one working range is not met, and the second sub-path is planned in a manner different from that of the first sub-path, and a corresponding distribution of the second sub-path is determined according to a size characteristic of an un-planned region in the target working region, so as to solve the path planning in this specific case.

[0024] In a fourth aspect, the embodiments of the present application further provide a path planning method of a movable platform, including:

[0025] Target information related to a position of a target working region is obtained, and a boundary of the target working region includes an inner recess that is recessed towards the inside;

[0026] According to the target information, a target path of the movable platform is planned;

[0027] The target path includes a first sub-path and a second sub-path, the first sub-path encloses a first sub-region, the second sub-path is located in the first sub-region, the target path conforms to any one of mode one and mode two, and when the first sub-path is closer to the inside of the target work region, the priority of mode one is higher than that of mode two, and / or when the first sub-path is farther away from the inside of the target work region, the priority of mode two is higher than that of mode one.

[0028] Mode one, the second sub-path includes a plurality of discrete path segments, and the plurality of discrete path segments are neither connected to each other nor surrounded by each other.

[0029] Mode two, the first distance between a path point on the first sub-path and a path point closest to the first sub-path on the second sub-path is different from the second distance between a path point on the second sub-path and a path point closest to the second sub-path on the third sub-path, wherein the first sub-path, the second sub-path and the third sub-path are sequentially adjacent.

[0030] The fourth aspect provides a path planning method, which adopts the mode of unequal distances between inner and outer paths and / or the mode of outer paths surrounding a plurality of discrete path segments of the inner paths to obtain a multi-layer surrounding path. When the first sub-path is farther away from the inside of the target work region, the planning mode of unequal distances is preferred, the overall coverage of the work region is given a high priority, and / or when the first sub-path is closer to the inside of the target work region, the planning mode of partition is preferred, and the work efficiency is given a high priority under the condition that the overall coverage of the work region has basically been achieved.

[0031] In the fifth aspect, the embodiments of the present application further provide a path planning method for a movable platform, comprising:

[0032] obtaining target information related to the position of a target work region, wherein the boundary of the target work region includes an inner recessed part that is recessed towards the inside; and

[0033] planning a target path of the movable platform according to the target information;

[0034] The target path includes a first sub-path, a second sub-path and a third sub-path that are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are all located in the target work region and respectively enclose a first sub-region, a second sub-region and a third sub-region, the second sub-region is located in the first sub-region, and the third sub-region is located in the second sub-region.

[0035] a first distance between the first sub-path and the second sub-path is not equal to a second distance between the second sub-path and the third sub-path;

[0036] a first working range corresponding to a use of the first sub-path and / or a second working range corresponding to a use of the second sub-path is related to the first distance, and a second working range corresponding to a use of the second sub-path and / or a third working range corresponding to a use of the third sub-path is related to the second distance, and at least two of the first working range, the second working range and the third working range are different.

[0037] The path planning method provided in the fifth aspect is used for a non-regular-shaped working area including an inner recess, and the path planning is performed by adopting a manner of "different distances between different inner and outer layers combined with different working ranges supported by the movable platform", so that a multi-layer surrounding path with different distances is obtained in a case where a size of the target working area is limited, and the movable platform can perform work by changing the working range when working in the multi-layer surrounding path with different distances, so that full coverage is achieved and work efficiency is improved.

[0038] In the sixth aspect, the embodiments of the present application further provide a path planning method for a movable platform, comprising:

[0039] obtaining target information related to a position of a target working area, wherein an outer boundary of the target working area includes an inner recess recessed towards the inside; and

[0040] planning a target path for the movable platform according to the target information;

[0041] wherein the target path includes a first sub-path and a second sub-path, the first sub-path and the second sub-path are both located in the target working area, the first sub-path forms a first sub-area, and the second sub-path is located in the first sub-area and includes a plurality of discrete path segments.

[0042] a distance between the first sub-path and the second sub-path is related to a working range of the movable platform.

[0043] The path planning method provided in the sixth aspect is used for a non-regular-shaped work area including an inner recess, and is performed in the following manner: a large circle is formed by surrounding an outer layer path, and a plurality of discrete path segments are planned in the inner recess based on a work range. In the case where the size of the target work area is limited, a multi-layer surrounding path is formed by the outer layer path and the plurality of discrete path segments in the inner recess, thereby improving work efficiency while avoiding repeated work on the basis of full work coverage.

[0044] In the seventh aspect, the embodiment of the present application further provides a path planning method for a movable platform, comprising:

[0045] obtaining target information related to the position of a target work area, wherein the boundary of the target work area includes an inner recess that is recessed towards the inside;

[0046] planning a target path for the movable platform according to the target information;

[0047] wherein the target path includes a first sub-path and a second sub-path, the second sub-path is located in a first sub-area surrounded by the first sub-path, and the distance between the second sub-path and the first sub-path is uniformly set;

[0048] the shape of the second sub-path is determined based on the positional relationship between a virtual circle on the first sub-path on one side and a virtual circle on the first sub-path on the other side, wherein when the virtual circle on the first sub-path on the one side intersects or is tangent to the virtual circle on the first sub-path on the other side, the shape of the second sub-path is different from the shape of the first sub-path;

[0049] the virtual circle has the path point of the first sub-path as the center and has a work range of a work load carried by the movable platform as the diameter.

[0050] The path planning method provided in the seventh aspect is used for a non-regular-shaped work area including an inner recess, and is performed in the following manner: the distribution of an inner layer path is determined based on the correlation between a plurality of relatively arranged virtual circles on an outer layer path, and the virtual circle has a path point on the outer layer path as the center and has a work range of a work load carried by the movable platform as the diameter. A multi-layer surrounding path can be obtained, thereby achieving full work coverage and improving work efficiency.

[0051] In the eighth aspect, the embodiment of the present application further provides a control method for a movable platform, comprising:

[0052] obtaining a target path for the movable platform;

[0053] obtaining current positioning information of the movable platform; and

[0054] controlling a power device of the movable platform based on the target path and the current positioning information, so as to move the movable platform based on the target path;

[0055] The target path comprises a first sub-path, a second sub-path and a third sub-path which are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are located in the target work area and each respectively enclose a first sub-region, a second sub-region and a third sub-region, the second sub-region is located in the first sub-region, and the third sub-region is located in the second sub-region.

[0056] The first interval between the path point on the first sub-path and the nearest path point on the second sub-path is different from the second interval between the path point on the second sub-path and the nearest path point on the third sub-path.

[0057] The first work mode corresponding to the use of the first sub-path by the movable platform and / or the second work mode corresponding to the use of the second sub-path by the movable platform is related to the first interval, the second work mode corresponding to the use of the second sub-path by the movable platform and / or the third work mode corresponding to the use of the third sub-path by the movable platform is related to the second interval, and at least two of the first work mode, the second work mode and the third work mode are different.

[0058] In a ninth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0059] obtaining a target path of the movable platform;

[0060] obtaining current positioning information of the movable platform; and

[0061] controlling a power device of the movable platform based on the target path and the current positioning information, so as to move the movable platform based on the target path;

[0062] The target path comprises a first sub-path and a second sub-path, the first sub-path and the second sub-path are located in the target work area, the first sub-path encloses a first sub-region, the second sub-path is located in the first sub-region, the second sub-path comprises a plurality of discrete path segments, and the plurality of discrete path segments are not connected to each other and do not surround each other.

[0063] In a tenth aspect, the embodiments of the present application further provide a control method of a movable platform, comprising:

[0064] obtaining a target path of the movable platform;

[0065] obtaining current positioning information of the movable platform; and

[0066] controlling a power device of the movable platform based on the target path and the current positioning information, so that the movable platform moves based on the target path;

[0067] The target path includes a first sub-path and a second sub-path, the second sub-path is located in a first sub-region enclosed by the first sub-path, and the second sub-path is planned in a manner different from that of the first sub-path.

[0068] The distribution of the second sub-path is related to a relative position relationship between a first virtual circle and a second virtual circle, the first virtual circle includes a circle with a first path point of the first sub-path as a center and a first preset distance as a radius, the second virtual circle includes a circle with a second path point of the first sub-path as a center and the first preset distance as a radius, and a virtual line between the first path point and the second path point is perpendicular to at least one of path segments where the first path point and the second path point are located.

[0069] The relative position relationship includes a case where a shortest distance between circumferences of the first virtual circle and the second virtual circle is less than four times the first preset distance, and the first preset distance is half of a working range of the movable platform when working on the first sub-path.

[0070] The target path in the control method provided in the tenth aspect is a multi-layer surrounding path planned in a manner that a distribution of an inner layer path is determined based on an association relationship between a plurality of relatively arranged virtual circles on an outer layer path, and the virtual circles are taken as centers of path points on the outer layer path and have a working range of a working load carried by the movable platform as a diameter. The multi-layer surrounding path can comprehensively cover a working area with limited size or unlimited size, so that the movable platform can comprehensively work when working using the target path, thereby achieving comprehensive working and improving working efficiency.

[0071] In the eleventh aspect, an embodiment of the present application further provides a path planning method of a movable platform, including:

[0072] obtaining a target path of the movable platform;

[0073] obtaining current positioning information of the movable platform; and

[0074] based on the target path and the current positioning information, controlling a power device of the movable platform to move the movable platform based on the target path;

[0075] wherein the target path comprises a first sub-path and a second sub-path, the first sub-path encloses a first sub-region, the second sub-path is located in the first sub-region, the target path conforms to any one of mode one and mode two, and when the first sub-path is closer to the inside of the target work region, the priority of the mode one is higher than that of the mode two, and / or when the first sub-path is farther away from the inside of the target work region, the priority of the mode two is higher than that of the mode one:

[0076] mode one, the second sub-path comprises a plurality of discrete distributed path segments, the plurality of discrete distributed path segments are neither connected to each other nor surrounded by each other;

[0077] mode two, a first distance between a path point on the first sub-path and a nearest path point on the second sub-path is different from a second distance between a path point on the second sub-path and a nearest path point on a third sub-path, wherein the first sub-path, the second sub-path and the third sub-path are sequentially adjacent.

[0078] In a twelfth aspect, the embodiments of the present application further provide a path planning method of a movable platform, comprising:

[0079] obtaining target information related to the position of a target work region, wherein the boundary of the target work region comprises an inwardly recessed concave part; and

[0080] planning a target path of the movable platform according to the target information;

[0081] wherein the target path comprises a first sub-path, a second sub-path and a third sub-path which are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are all located in the target work region and each encloses a first sub-region, a second sub-region and a third sub-region respectively, the second sub-region is located in the first sub-region, and the third sub-region is located in the second sub-region;

[0082] a first distance between the first sub-path and the second sub-path is not equal to a second distance between the second sub-path and the third sub-path;

[0083] The first operation range corresponding to the use of the first sub-path and / or the second operation range corresponding to the use of the second sub-path by the movable platform is related to the first interval, the second operation range corresponding to the use of the second sub-path and / or the third operation range corresponding to the use of the third sub-path by the movable platform is related to the second interval, and at least two of the first operation range, the second operation range and the third operation range are different.

[0084] In a thirteenth aspect, the embodiments of the present application further provide a path planning method for a movable platform, comprising:

[0085] obtaining target information related to the position of a target operation area, wherein the outer boundary of the target operation area comprises an inner recessed part recessed towards the inside; and

[0086] planning a target path for the movable platform according to the target information;

[0087] The target path comprises a first sub-path and a second sub-path, the first sub-path and the second sub-path are both located in the target operation area, the first sub-path encloses a first sub-area, and the second sub-path is located in the first sub-area and comprises a plurality of discretely distributed path segments.

[0088] The interval between the first sub-path and the second sub-path is related to the operation range of the movable platform.

[0089] In a fourteenth aspect, the embodiments of the present application further provide a path planning method for a movable platform, comprising:

[0090] obtaining target information related to the position of a target operation area, wherein the boundary of the target operation area comprises an inner recessed part recessed towards the inside;

[0091] planning a target path for the movable platform according to the target information;

[0092] The target path comprises a first sub-path and a second sub-path, the second sub-path is located in a first sub-area enclosed by the first sub-path, and the interval between the second sub-path and the first sub-path is uniformly arranged.

[0093] The shape of the second sub-path is determined based on the positional relationship between a virtual circle on the first sub-path on one side and a virtual circle on the first sub-path on the other side, and when the virtual circle on the first sub-path on the one side intersects or is tangent to the virtual circle on the first sub-path on the other side, the shape of the second sub-path is different from the shape of the first sub-path.

[0094] The virtual circle has the path point of the first sub-path as a center and has the working range of the movable platform as a diameter.

[0095] In a fifteenth aspect, the embodiments of the present application further provide an apparatus, including at least one processor and at least one memory including computer program codes, wherein the at least one memory and the computer program codes are configured to, with the at least one processor, cause the apparatus at least to execute the computer program and implement the path planning method according to any one of the first aspect to the seventh aspect or the control method according to any one of the eighth aspect to the fourteenth aspect.

[0096] In a sixteenth aspect, the embodiments of the present application further provide a movable platform, including:

[0097] a platform body configured to carry a working load;

[0098] a power device configured to provide moving power for the movable platform;

[0099] a control device configured to implement the path planning method according to any one of the first aspect to the seventh aspect or the control method according to any one of the eighth aspect to the fourteenth aspect.

[0100] In a seventeenth aspect, the embodiments of the present application further provide a storage medium readable by a computer, and the storage medium stores a computer program, and the computer program is executed by a processor to cause the processor to implement the path planning method according to any one of the first aspect to the seventh aspect or the control method according to any one of the eighth aspect to the fourteenth aspect.

[0101] In an eighteenth aspect, the embodiments of the present application further provide a system including a control terminal and the movable platform according to the sixteenth aspect, and the control terminal is configured to control the movable platform.

[0102] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0103] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0104] FIG. 1 is a schematic diagram of a scene for implementing the path planning method provided by the embodiments of the present application;

[0105] FIG. 2 is a step schematic flow chart of a path planning method according to an embodiment of the present application;

[0106] FIG. 3 is an example diagram of a target path according to an embodiment of the present application;

[0107] FIG. 4 is another example diagram of a target path according to an embodiment of the present application;

[0108] FIG. 5 is a step schematic flow chart of another path planning method according to an embodiment of the present application;

[0109] FIG. 6 is another example diagram of a target path according to an embodiment of the present application;

[0110] FIG. 7 is a step schematic flow chart of another path planning method according to an embodiment of the present application;

[0111] FIG. 8 is an example diagram of overlapping work coverage on adjacent sub-paths according to an embodiment of the present application;

[0112] FIG. 9 is an example diagram of overlapping work coverage of two path segments in the same sub-path according to an embodiment of the present application;

[0113] FIG. 10 is a step schematic flow chart of another path planning method according to an embodiment of the present application;

[0114] FIG. 11 is an example diagram of an actual moving trajectory passing through a first turning inflection point or not passing through a second turning inflection point according to an embodiment of the present application;

[0115] FIG. 12 is an example diagram of an actual moving trajectory passing through a key path point or not passing through a key path point according to an embodiment of the present application;

[0116] FIG. 13 is a step schematic flow chart of another path planning method according to an embodiment of the present application;

[0117] FIG. 14 is another example diagram of a target path according to an embodiment of the present application;

[0118] FIG. 15 is another example diagram of a target path according to an embodiment of the present application;

[0119] FIG. 16 is a step schematic flow chart of another path planning method according to an embodiment of the present application;

[0120] FIG. 17 is an example diagram of a first virtual circle and a second virtual circle according to an embodiment of the present application;

[0121] FIG. 18 is another example diagram of a first virtual circle and a second virtual circle according to an embodiment of the present application;

[0122] FIG. 19 is another example diagram of a first virtual circle and a second virtual circle according to an embodiment of the present application;

[0123] FIG. 20 is another example diagram of the first virtual circle and the second virtual circle in the embodiments of the present application;

[0124] FIG. 21 is a step schematic flow chart of another path planning method provided by the embodiments of the present application;

[0125] FIG. 22 is a step schematic flow chart of another path planning method provided by the embodiments of the present application;

[0126] FIG. 23 is a step schematic flow chart of another path planning method provided by the embodiments of the present application;

[0127] FIG. 24 is a step schematic flow chart of another path planning method provided by the embodiments of the present application;

[0128] FIG. 25 is a step schematic flow chart of a control method provided by the embodiments of the present application;

[0129] FIG. 26 is a structural schematic block diagram of a device provided by the embodiments of the present application;

[0130] FIG. 27 is a structural schematic block diagram of a movable platform provided by the embodiments of the present application;

[0131] FIG. 28 is a structural schematic block diagram of a system provided by the embodiments of the present application. DETAILED DESCRIPTION

[0132] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0133] The flow charts shown in the drawings are only example illustrations, and do not necessarily include all the contents and operations / steps, nor do they have to be executed in the described order. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order can be changed according to the actual situation.

[0134] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0135] Please refer to FIG. 1, which is a schematic diagram of a scene for implementing the path planning method provided by the embodiments of the present application.

[0136] As shown in FIG. 1, the movable platform 100 is communicatively connected with a control terminal 200, and the control terminal 200 is configured to control the movable platform 100. The movable platform 100 includes a platform body 110, a power device 120 arranged on the platform body 110, a work load 130, and a control system (not shown in FIG. 1) configured to control the movable platform. The power device 120 is configured to provide moving power for the movable platform 100, and the work load 130 is carried on the platform body 110 and is configured to perform work, for example, the work load 130 includes any one of a spraying device, a sowing device, a throwing device, a shooting device, and a cleaning device, and correspondingly, the work range is the spraying width of the spraying device, the sowing width of the sowing device, the throwing range of the throwing device, the field of view angle of the shooting device, and the cleaning range of the cleaning device.

[0137] The movable platform 100 can include an aircraft, a vehicle, a ship, a mobile robot (e.g., a sweeping robot), etc. The aircraft can include a manned aircraft and an unmanned aircraft, and the unmanned aircraft can include a rotorcraft, such as a quadcopter, a hexacopter, an octocopter, a fixed-wing aircraft, or a combination of a rotorcraft and a fixed-wing aircraft. The unmanned aircraft can be classified into an agricultural unmanned aircraft, an industrial unmanned aircraft, a photography unmanned aircraft, etc. according to application industries. The control terminal 200 can include a remote controller, a smartphone, a tablet computer, a notebook computer, a personal digital assistant (PDA), a wearable device, a gesture recognition device, etc. The control terminal can be a portable handheld terminal. The control terminal can be carried by a user. In some cases, the control terminal can be away from the user, and the user controls the control terminal using wireless and / or wired communication.

[0138] In some embodiments, the power device 120 can include one or more propellers 121, one or more motors 122 corresponding to the one or more propellers, and one or more electronic speed controllers (ESC). The motor 122 is connected between the electronic speed controller and the propeller 121, and the motor 122 and the propeller 121 are arranged on the platform body 110 of the movable platform 100. The electronic speed controller is configured to receive a driving signal generated by the control system and provide a driving current to the motor 122 according to the driving signal to control the rotation speed of the motor 122. The motor 122 is configured to drive the propeller 121 to rotate, thereby providing power for the movement of the movable platform 100, which enables the movable platform 100 to move in one or more degrees of freedom. In some embodiments, the movable platform 100 can rotate around one or more rotation axes. For example, the rotation axes can include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 122 can be a direct current motor or an alternating current motor. In addition, the motor 122 can be a brushless motor or a brushed motor. In other embodiments, the power device 120 can also be a wheel device or an underwater driving device, etc.

[0139] In some embodiments, the control system includes a control device and a sensing system. The sensing system is configured to measure the attitude information of the movable platform 100, i.e., the position information and state information of the movable platform 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity, etc. The sensing system can include at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer, etc. For example, the global navigation satellite system can be a global positioning system (GPS). The control device is configured to control the movement of the movable platform 100, for example, the movement of the movable platform 100 can be controlled according to the attitude information measured by the sensing system. It should be understood that the control device can control the movable platform 100 according to pre-programmed instructions.

[0140] It should be noted that the planned target path can be used for the movable platform 100 to execute itself, or can be sent to other movable platforms to execute. The path planning method of the present application can be applied to the control terminal 200 or the movable platform 100. The planned target path can be used for display, for example, can be displayed synchronously on the device for implementing path planning after planning, or can be sent to a dedicated display device for display, or can be displayed when executing the subsequent task. The device for implementing path planning and the device for executing the task can be the same device or different devices. For the above cases, the present application does not make special limitations.

[0141] In the following, the path planning method or the control method provided by the embodiments of the present application will be described in detail in combination with the scenario in FIG. 1. It should be noted that the scenario in FIG. 1 is only used to explain the path planning method or the control method provided by the embodiments of the present application, but does not constitute a limitation on the application scenarios of the path planning method or the control method provided by the embodiments of the present application.

[0142] Please refer to FIG. 2, which is a step schematic flowchart of a path planning method provided by an embodiment of the present application.

[0143] As shown in FIG. 2, the path planning method includes steps S101 to S102.

[0144] In step S101, target information related to the position of a target work area is obtained.

[0145] In this embodiment, the target work area can be an area that needs to be surveyed, aerial photographed, sprayed, sowed, dropped or cleaned. The target work area can be a planar work area, an inclined work area or a vertical work area, for example, a surface of a farmland, an orchard, a cliff or one surface of a building.

[0146] In some embodiments, the target information related to the position of the target work area is used to indicate the boundary contour of the target work area. For example, the boundary contour of the target work area can be a non-rectangular shape, a concave polygon or a concave arc shape, or an irregular shape. It should be noted that the concave polygon in the present application refers to a polygon with at least one acute angle (an angle greater than a straight angle but less than a full angle), and the concave arc shape refers to a shape including at least one concave arc angle.

[0147] In some embodiments, obtaining the target information related to the position of the target work area can include: obtaining position information of a plurality of boundary points of the target work area; and determining the target information of the target work area according to the position information of the plurality of boundary points. The position information of the plurality of boundary points of the target work area can be determined by a user using a movable platform or a control terminal or a positioning device, obtained by boundary point recognition on an image containing the target work area, or obtained by querying a map containing the target work area. In this embodiment, the position information of the plurality of boundary points of the target work area can be used to accurately determine the target information used to indicate the boundary contour of the target work area, so as to facilitate subsequent planning of a target path of the movable platform based on the boundary contour indicated by the target information. In other embodiments below, the target work area and the target information are the same, and will not be described again.

[0148] In step S102, a target path of the movable platform is planned according to the target information, the target path including a first sub-path, a second sub-path and a third sub-path in turn adjacent to each other, the first sub-path, the second sub-path and the third sub-path being located in the target work area and each enclosing a first sub-region, a second sub-region and a third sub-region respectively, the second sub-region being located in the first sub-region, and the third sub-region being located in the second sub-region, that is, the first sub-path, the second sub-path and the third sub-path are in a nested relationship in turn, and a first interval between a path point on the first sub-path and a path point closest to the path point on the second sub-path is different from a second interval between a path point on the second sub-path and a path point closest to the path point on the third sub-path, and a first work mode corresponding to work of the movable platform using the first sub-path and / or a second work mode corresponding to work of the movable platform using the second sub-path is related to the first interval, and the second work mode corresponding to work of the movable platform using the second sub-path and / or a third work mode corresponding to work of the movable platform using the third sub-path is related to the second interval, and at least two of the first work mode, the second work mode and the third work mode are different.

[0149] In the embodiment, the path planning is performed in the manner of "different intervals between different inner and outer paths combined with different work modes supported by the movable platform", and in the case that the size of the target work area is limited, a multi-layer surrounding path is obtained, so that the movable platform can work by changing the work mode when working using the multi-layer surrounding path with different intervals, full coverage is achieved, and work efficiency is improved.

[0150] In the embodiments of the present application, the multi-layer surrounding path indicates that there is an overlapping relationship between the sub-regions formed between different inner and outer sub-paths. For example, when the target work region is a plane, such as a plain, a plurality of sub-paths sequentially "enclose" to form a plurality of sub-regions on the plane, and the plurality of sub-regions have an overlapping relationship on the plane. For example, when the target work region is an inclined surface, such as a slope or a building surface, a plurality of sub-paths sequentially "enclose" to form a plurality of sub-regions on the inclined surface, and the plurality of sub-regions have an overlapping relationship on the inclined surface. When the target work region is a curved surface with varying heights, such as a mountainous area or a hilly area, a plurality of sub-paths sequentially "enclose" to form a plurality of sub-regions on the curved surface, and the plurality of sub-regions have an overlapping relationship on the curved surface. Further, each sub-path is a closed circle path. In addition, it should be noted that the path in the present application can be a 2D path or a 3D path including elevation information. The elevation information between the path points on the same sub-path can be the same, for example, for a large field plot or a fruit tree plot with uniform plant growth. The elevation information between the path points on the same sub-path can also be different, for example, for a fruit tree plot with large plant growth differences or a rugged terrain requiring land-forming work. Similarly, the elevation information between different sub-paths can be the same or different. Further, the elevation information of the path points of the sub-paths does not affect the shape of the sub-paths and the surrounding relationship between the sub-paths. For example, as shown in FIG. 3, the target path is planned in a landslide area of a mountain slope for work. The dashed line in the figure is the boundary of the landslide area, and the solid line in the figure is the target path planned in the landslide area. As can be seen, the path points on the target path have different elevation information. In other embodiments below, the multi-layer surrounding path is the same, and will not be described again.

[0151] For example, as shown in FIG. 4, the target path includes sequentially adjacent first sub-path 11, second sub-path 12 and third sub-path 13, first sub-path 11, second sub-path 12 and third sub-path 13 are located in target work region A, first sub-path 11 encloses to form first sub-region B, second sub-path 12 encloses to form second sub-region C, and third sub-path 13 encloses to form third sub-region D, and second sub-region C is located in first sub-region B, third sub-region D is located in second sub-region C, and the first distance d1 between the path points on the first sub-path 11 and the closest path points on the second sub-path 12 is greater than the second distance d2 between the path points on the second sub-path 12 and the closest path points on the third sub-path 13.

[0152] In some embodiments, the first sub-path, the second sub-path and the third sub-path are closed paths, for example, a loop path. In the embodiments of the present application, the Nth sub-path and the Mth sub-path, N and M are integers greater than 0, and when N is different from M, the Nth sub-path and the Mth sub-path generally refer to different sub-paths, rather than different path segments on the same sub-path. In some embodiments, the shape enclosed by at least one of the first sub-path, the second sub-path and the third sub-path is substantially the same as the boundary profile of the target work area. For example, as shown in FIG. 4, the shape of the first sub-area B enclosed by the first sub-path 11 is substantially the same as the boundary profile 10 of the target work area A. In the embodiments of the present application, since the shape enclosed by at least one of the plurality of sub-paths included in the target path is substantially the same as the boundary profile of the target work area, the target path has fewer turning inflection points, so that the mobile platform does not need to frequently decelerate when working using the target path with fewer turning inflection points, thereby improving work efficiency.

[0153] In some embodiments, the shapes enclosed by at least two of the first sub-path, the second sub-path and the third sub-path are substantially the same. For example, as shown in FIG. 4, the shape of the second sub-area C enclosed by the second sub-path 12 is substantially the same as the shape of the third sub-area D enclosed by the third sub-path 13. It should be noted that the shape of the object referred to in the present application is irrelevant to the size and dimensions of the object itself. Further, the shape of the object referred to in the present application is the shape of the object projected onto a two-dimensional plane.

[0154] In some embodiments, the third distance between the path points on the first sub-path and the nearest boundary points on the boundary profile of the target work area is different from the first distance, and / or the third distance between the path points on the first sub-path and the nearest boundary points on the boundary profile of the target work area is the same as the second distance. For example, as shown in FIG. 4, the third distance d3 between the path points on the first sub-path 11 and the nearest boundary points on the boundary profile 10 of the target work area A is different from the first distance d1, and the third distance d3 between the path points on the first sub-path 11 and the nearest boundary points on the boundary profile 10 of the target work area A is the same as the second distance d2, the first distance d1 is the same as the work amplitude of the work load, and the second distance d2 and the third distance d3 are each half of the work amplitude of the work load. In some cases, for example, when the work load is fixedly arranged with the mobile platform, the work amplitude is fixed; in other cases, for example, when the work load can be adjusted by linear translation or rotational motion, the work amplitude can also be variably adjustable.

[0155] In some embodiments, the first distance between the path point on the first sub-path and the nearest path point on the second sub-path and / or the second distance between the path point on the second sub-path and the nearest path point on the third sub-path is related to a working range of the working load carried by the movable platform. One of the first distance and the second distance is a double-side working range of the movable platform, and the other of the first distance and the second distance is a single-side working range of the movable platform. For example, as shown in FIG. 4, the first distance d1 can be a double-side working range of the movable platform, i.e., a case where the working load on both sides of the movable platform works, and the second distance d2 can be a single-side working range of the movable platform, i.e., a case where the working load on one side of the movable platform works and the working load on the other side of the movable platform is idle. In the embodiment, the distance between adjacent sub-paths in the plurality of sub-paths included in the target path is related to the working range, so that the movable platform can effectively cover the entire target working area when working using the target path, and the working effect is better.

[0156] In some embodiments, the first distance between the path point on the first sub-path and the nearest path point on the second sub-path and / or the second distance between the path point on the second sub-path and the nearest path point on the third sub-path is determined according to the working range, and the working range of the working load includes any one of a spraying width of a spraying device, a spreading width of a spreading device, a throwing range of a throwing device, a field of view angle of a shooting device, and a cleaning range of a cleaning device. In the embodiment, the distance between adjacent sub-paths in the plurality of sub-paths included in the target path is determined according to the working range, so that the movable platform can effectively cover the entire target working area when working using the target path, and the working effect is better.

[0157] In the embodiments of the present application, the target path of the movable platform is planned according to the target information, and the target path can be obtained by layer-by-layer inward shrinking from the outside of the target working area or layer-by-layer outward expansion from the inside of the target working area. For the convenience of description, the layer-by-layer inward shrinking is taken as an example for description in the following embodiments.

[0158] In some embodiments, as shown in FIG. 5, the step S101 specifically includes a sub-step S1011, and the step S102 specifically includes sub-steps S1021 and S1022.

[0159] The sub-step S1011 is to acquire the boundary of the target working area.

[0160] The sub-step S1021 is to inwardly shrink the boundary of the target working area by a working range in a direction towards the inside of the target working area, the working range being a working range corresponding to the working load carried by the movable platform.

[0161] In the case of successful inward shrinking, a first sub-path is obtained, and sub-step S1022 is performed to determine a starting point of the first sub-path according to a departure point of the movable platform, and a line connecting the starting point of the first sub-path and the departure point of the movable platform is substantially perpendicular to a path segment where the starting point of the first sub-path is located;

[0162] Sub-step S1023 is performed to determine an execution order of the first sub-path;

[0163] Sub-step S1024 is performed to inwardly shrink the sub-path obtained by the last inward shrinking by one work range towards the inside of the target work area;

[0164] In the case of successful inward shrinking, a next sub-path is obtained, and then sub-step S1025 is performed to determine a starting point of the next sub-path according to a work end point of the sub-path obtained by the last inward shrinking, and a line connecting the starting point of the next sub-path and the work end point of the first sub-path is substantially perpendicular to a path segment where the starting point of the next sub-path is located; and then sub-step S1026 is performed to determine an execution order of each of the planned sub-paths;

[0165] In the case of failed inward shrinking, sub-step S1027 is performed to inwardly shrink the sub-path obtained by the last inward shrinking by half a work range towards the inside of the target work area;

[0166] The logic of sub-steps S1024 to S1027 is repeatedly performed until the sub-path obtained by the last inward shrinking fails to be inwardly shrunk by half a work range towards the inside of the target work area, and then sub-step S1028 is performed to end the path planning.

[0167] In some embodiments, the departure point of the movable platform can be a parking position of the movable platform, a position of a base station of the movable platform, a supply position of the movable platform, a work end point of a previous work area, and the like, which are not limited herein.

[0168] In some embodiments, the boundary of the target work area can be an outer boundary of the target work area, an inner boundary of the target work area, or a reference boundary determined according to the inner boundary or the outer boundary, which are not limited herein.

[0169] In some embodiments, the target path further comprises a fourth sub-path, the fourth sub-path being different from at least one of the first sub-path, the second sub-path and the third sub-path in shape. Further, the fourth sub-path is closer to the inner part of the target work area than the third sub-path. The fourth sub-path comprises at least two path segments discretely distributed in the target work area, and the at least two path segments are not connected to each other and not surrounded by each other. For example, as shown in FIG. 6, the target path further comprises a fourth sub-path 14, the fourth sub-path 14 being different from the first sub-path 11, the second sub-path 12 and the third sub-path 13 in shape, and the fourth sub-path 14 is closer to the inner part of the target work area A than the third sub-path 13, the fourth sub-path 14 comprises a first path segment 141 and a second path segment 142, and the first path segment 141 and the second path segment 142 are not connected to each other and not surrounded by each other.

[0170] In some embodiments, the execution order between the at least two path segments comprised by the fourth sub-path is continuous or discontinuous. Wherein, the execution order between the at least two path segments comprised by the fourth sub-path is continuous refers to that the movable platform does not use the remaining sub-paths for work during the work based on the fourth sub-path, and the execution order between the at least two path segments comprised by the fourth sub-path is discontinuous refers to that the movable platform uses the remaining sub-paths for work during the work based on the fourth sub-path. For example, as shown in FIG. 6, the execution order between the first path segment 141 and the second path segment 142 comprised by the fourth sub-path 14 is continuous, i.e., the movable platform can first work based on the first path segment 141 and then work based on the second path segment 142, or the movable platform can first work based on the second path segment 142 and then work based on the first path segment 141. Or, the execution order between the first path segment 141 and the second path segment 142 comprised by the fourth sub-path 14 is discontinuous, for example, the movable platform can first work based on the first path segment 141, then work based on the third sub-path, and then work based on the second path segment 142.

[0171] In some embodiments, the at least two path segments comprised by the fourth sub-path comprise a path segment in the shape of a straight line segment and / or a path segment in the shape of a closed shape. Wherein, the path segment in the shape of a straight line segment is located in a corner area in the target work area, and / or the path segment in the shape of a closed shape is located in a non-corner area in the target work area. For example, as shown in FIG. 6, the fourth sub-path 14 comprises a first path segment 141 and a second path segment 142, and the first path segment 141 and the second path segment 142 are both path segments in the shape of a closed shape, and the first path segment 141 and the second path segment 142 are located in a non-corner area in the target work area A.

[0172] In some embodiments, the fourth sub-path is obtained by inwardly retracting a preset distance from the sub-path portion adjacent to the fourth sub-path and away from the inner side of the target working area, and the preset distance is the larger one of the first distance and the second distance. It can be understood that the preset distance can also be the smaller one of the first distance and the second distance, or the preset distance can also be a distance other than the first distance and the second distance, which is not limited in the present embodiments. For example, as shown in FIG. 6, the first path segment 141 in the fourth sub-path 14 is obtained by inwardly retracting a preset distance from a portion of the third sub-path 13, and the second path segment 142 in the fourth sub-path 14 is obtained by inwardly retracting a preset distance from another portion of the third sub-path 13.

[0173] In some embodiments, as shown in FIG. 7, in the case that the inward retraction of the sub-path obtained last time by a second distance fails, the step S1029 is performed to split the enclosed area formed by the sub-path obtained last time into a plurality of discrete sub-areas, and the next sub-path is planned according to the plurality of sub-areas, the next sub-path comprising at least two path segments discretely distributed in the target working area, and the at least two path segments are not connected to each other and do not surround each other.

[0174] Specifically, the boundary of the target working area is inwardly retracted by a third interval towards the inside of the target working area, the third interval being half of the working range; in the case of successful inward retraction of the boundary, a first sub-path is obtained; according to the working starting point of the movable platform, a starting point of the first sub-path is determined, and an execution order of the first sub-path is determined, the line connecting the starting point of the first sub-path and the working starting point being substantially perpendicular to the path segment where the starting point of the first sub-path is located; the first sub-path is retracted by a first interval towards the inside of the target working area, the first interval being equal to the working range; in the case of successful inward retraction of the first sub-path, a second sub-path is obtained; according to the terminal point of the first sub-path, a starting point of the second sub-path is determined, the line connecting the starting point of the second sub-path and the terminal point of the first sub-path being substantially perpendicular to the path segment where the terminal point of the first sub-path is located; the execution order of the first sub-path and the second sub-path is determined; the second sub-path is retracted by the first interval towards the inside of the target working area; in the case of failed inward retraction of the second sub-path, the second sub-path is retracted by a second interval towards the inside of the target working area, the second interval being half of the working range; in the case of successful inward retraction of the second sub-path towards the inside of the target working area by the second interval, a third sub-path is obtained, according to the terminal point of the second sub-path, a starting point of the third sub-path is determined, the line connecting the starting point of the third sub-path and the terminal point of the second sub-path being substantially perpendicular to the path segment where the terminal point of the second sub-path is located; the execution order of the first sub-path, the second sub-path and the third sub-path is determined; the third sub-path is retracted by the second interval towards the inside of the target working area, in the case of failed inward retraction, the surrounding area formed by the third sub-path is split into multiple discrete sub-areas, according to the multiple sub-areas, a fourth sub-path is planned, the fourth sub-path including at least two path segments distributed discretely in the target working area, and the at least two path segments are not connected to each other and do not surround each other.

[0175] For example, as shown in FIG. 6, in the case of failed inward retraction of the third sub-path 13 by the second interval towards the inside of the target working area A, the third sub-area surrounded by the third sub-path 13 can be split into discrete first sub-area E and second sub-area F, according to the first sub-area E and the second sub-area F, a fourth sub-path 14 is obtained, and the fourth sub-path 14 includes path segment 141 and path segment 142, the path segment 141 and the path segment 142 are not connected to each other and do not surround each other.

[0176] In some embodiments, the target operation parameters adopted by at least two of the first operation mode, the second operation mode and the third operation mode are different. This embodiment ensures that the target operation parameters adopted by at least two of the first operation mode, the second operation mode and the third operation mode are different, so that the movable platform can change the target operation parameters adopted by different operation modes when performing operation, achieve full coverage of operation, improve operation efficiency, and at the same time reduce the frequency of repeated operation or missed operation, and achieve precise and controllable operation.

[0177] In some embodiments, the target operation parameters adopted by the first operation mode and the second operation mode are different in the case that the first distance between the path points on the first sub-path to the nearest path points on the second sub-path is less than the second distance between the path points on the second sub-path to the nearest path points on the third sub-path. Or, the target operation parameters adopted by the second operation mode and the third operation mode are different in the case that the first distance between the path points on the first sub-path to the nearest path points on the second sub-path is greater than the second distance between the path points on the second sub-path to the nearest path points on the third sub-path.

[0178] In some embodiments, the target operation parameters include the operation amplitude of the operation load carried by the movable platform. The target operation parameters adopted by at least two of the operation modes are different, including: in the case that the first operation coverage range when the movable platform uses the first sub-path for operation and the second operation coverage range when the movable platform uses the second sub-path for operation overlap, the operation amplitude adopted by the first operation mode and the second operation mode on the path segment corresponding to the overlap is different; and / or, in the case that the second operation coverage range when the movable platform uses the second sub-path for operation and the third operation coverage range when the movable platform uses the third sub-path for operation overlap, the operation amplitude adopted by the second operation mode and the third operation mode on the path segment corresponding to the overlap is different. In this embodiment, if the operation coverage ranges of the movable platform on adjacent sub-paths overlap during the operation of the movable platform using the target path, the movable platform changes the operation amplitude adopted on the path segment corresponding to the overlap, which can avoid repeated operation on the area where the path segment corresponding to the overlap is located on the basis of ensuring full coverage of operation, and improve the operation effect.

[0179] In some embodiments, the first operation mode and the second operation mode differ in the operation range adopted on the path segment corresponding to the overlap, including: during operation of the movable platform using the first sub-path, the operation load near the side of the movable platform close to the second sub-path is in an active state when the movable platform operates on the path segment corresponding to the overlap; during operation of the movable platform using the second sub-path, the operation load near the side of the movable platform close to the first sub-path is in an idle state when the movable platform operates on the path segment corresponding to the overlap; or, during operation of the movable platform using the first sub-path, the operation load near the side of the movable platform close to the second sub-path is in an idle state when the movable platform operates on the path segment corresponding to the overlap, and during operation of the movable platform using the second sub-path, the operation load near the side of the movable platform close to the first sub-path is in an active state when the movable platform operates on the path segment corresponding to the overlap. In this embodiment, if there is an overlap in the operation coverage of the movable platform on adjacent sub-paths during operation of the movable platform using the target path, the movable platform changes the state of the operation load adopted on the path segment corresponding to the overlap, which can avoid repeated operation on the area where the path segment corresponding to the overlap is located on the basis of ensuring comprehensive operation coverage, thereby improving the operation effect.

[0180] For example, as shown in FIG. 8, there is an overlap area (exemplarily represented by the diagonal shaded area) between the first operation coverage when the movable platform operates using the first sub-path 21 and the second operation coverage when the movable platform operates using the second sub-path 22, the operation load near the side of the movable platform close to the second sub-path 22 is controlled to be in an active state during operation of the movable platform using the first sub-path 21, and the operation load near the side of the movable platform close to the first sub-path 21 is controlled to be in an idle state during operation of the movable platform using the second sub-path 22. Alternatively, the operation load near the side of the movable platform close to the second sub-path 22 is controlled to be in an idle state during operation of the movable platform using the first sub-path 21, and the operation load near the side of the movable platform close to the first sub-path 21 is controlled to be in an active state during operation of the movable platform using the second sub-path 22.

[0181] In some embodiments, the second operation mode and the third operation mode adopt different operation ranges on the path segment corresponding to the overlap, including: during operation of the movable platform using the second sub-path, the operation load near the side of the third sub-path in the movable platform is in a working state when the movable platform operates on the path segment corresponding to the overlap; during operation of the movable platform using the third sub-path, the operation load near the side of the second sub-path in the movable platform is in an idle state when the movable platform operates on the path segment corresponding to the overlap; or, during operation of the movable platform using the second sub-path, the operation load near the side of the third sub-path in the movable platform is in an idle state when the movable platform operates on the path segment corresponding to the overlap, and during operation of the movable platform using the third sub-path, the operation load near the side of the second sub-path in the movable platform is in a working state when the movable platform operates on the path segment corresponding to the overlap. In this embodiment, during operation of the movable platform using the target path, if there is an overlap in the operation coverage range on the adjacent sub-paths of the movable platform, the movable platform changes the state of the operation load adopted on the path segment corresponding to the overlap, so as to avoid repeated operation on the area where the path segment corresponding to the overlap is located on the basis of ensuring comprehensive operation coverage, thereby improving the operation effect.

[0182] In some embodiments, in the case where the same sub-path in the target path includes at least two path segments with overlapping operation coverage ranges, the movable platform adopts different operation ranges when operating on the at least two path segments with overlapping operation coverage ranges. The at least two path segments with overlapping operation coverage ranges include a first path segment and a second path segment, and the operation load near the side of the second path segment is in a working state when the movable platform operates on the first path segment, and the operation load near the side of the first path segment is in an idle state when the movable platform operates on the second path segment; or, the operation load near the side of the second path segment is in an idle state when the movable platform operates on the first path segment, and the operation load near the side of the first path segment is in a working state when the movable platform operates on the second path segment. In this embodiment, during operation of the movable platform using the target path, if the same sub-path includes at least two path segments with overlapping operation coverage ranges, the movable platform changes the operation load so that the movable platform adopts different operation ranges on different path segments, so as to avoid repeated operation on the area where the path segment corresponding to the overlap is located on the basis of ensuring comprehensive operation coverage, thereby improving the operation effect.

[0183] For example, as shown in FIG. 9, the third sub-path 13 includes a first path segment 131 and a second path segment 132, which overlap in the work coverage. When the movable platform is working using the first path segment 131, the work load near the side of the movable platform close to the second path segment 132 is in a working state, and when the movable platform is working using the second path segment 132, the work load near the side of the movable platform close to the first path segment 131 is in an idle state. Alternatively, when the movable platform is working using the first path segment 131, the work load near the side of the movable platform close to the first path segment 131 is in an idle state, and when the movable platform is working using the second path segment 132, the work load near the side of the movable platform close to the first path segment 131 is in a working state.

[0184] In some embodiments, as shown in FIG. 10, after step S102, the method further includes:

[0185] Step S103, controlling the power device of the movable platform to make the movable platform work in the target work area based on the target path.

[0186] In this embodiment, after the target path of the movable platform is planned, the power device of the movable platform can be immediately controlled to operate, so that the movable platform works in the target work area based on the target path, thereby realizing the integration of planning and working and improving the real-time performance of the work.

[0187] In some embodiments, working in the target work area based on the target path includes: determining an actual moving track of the movable platform in the target work area based on the target path, and controlling the movable platform to move along the actual moving track and work. The actual moving track is different from at least part of the target path, and the target path includes a turning inflection point between two path segments connected to each other in the same sub-path. The actual moving track includes part of the turning inflection point of the target path. Since the movable platform moves and works strictly according to the target path, the movable platform will frequently stop, resulting in low work efficiency. Therefore, in this embodiment, the actual moving track of the movable platform is determined based on the target path, so that the path is optimized, and the movable platform will not frequently stop when moving and working along the actual moving track, thereby improving the work efficiency.

[0188] In some embodiments, the actual moving track of the movable platform and the target path are differentially marked on the interactive interface at least for part of the path segments; and / or, the actual moving track of the movable platform is determined based on smoothing processing of the target path. This embodiment displays at least part of the path segments of the actual moving track and the target path on the interactive interface by differentiating the marking, so as to make the user aware of the different path segments of the actual moving track and the target path. Since the actual moving track in this embodiment is determined based on the smoothing processing of the target path, the turning inflection points of the actual moving track are reduced, so that the movable platform does not frequently stop when moving along the actual moving track and working, and the working efficiency is improved.

[0189] In some embodiments, turning inflection points are formed between two path segments connected to each other in the same sub-path in the target path, and the turning is further coordinated at the turning inflection points, taking into account the smoothness and efficiency of the turning, while controlling the deviation degree of the actual moving track from the target path, so as to further improve the overall working efficiency and working effect of the movable platform. Specifically, the target path includes a plurality of turning inflection points on the same sub-path, and the plurality of turning inflection points include a first turning inflection point and a second turning inflection point. In the case where the angle between the two path segments corresponding to the first turning inflection point is greater than the angle between the two path segments corresponding to the second turning inflection point, the moving speed of the movable platform at the first turning inflection point is greater than the moving speed of the movable platform at the second turning inflection point. The moving speed of the movable platform at the turning inflection point is positively correlated with the angle between the two path segments corresponding to the turning inflection point, that is, the greater the angle between the two path segments corresponding to the turning inflection point, the faster the moving speed of the movable platform at the turning inflection point, and the smaller the angle between the two path segments corresponding to the turning inflection point, the slower the moving speed of the movable platform at the turning inflection point.

[0190] In some embodiments, the control of the movable platform moving along the actual moving track and working includes: when the angle between the two path segments corresponding to the turning inflection point is greater than or equal to a preset angle, controlling the actual moving track to pass through the turning inflection point; otherwise, controlling the actual moving track not to pass through the turning inflection point. The preset angle is an obtuse angle. This embodiment can ensure that the actual moving track generally fits the target path, while reducing the turning inflection points of the actual moving track, so that the movable platform does not frequently stop when moving along the actual moving track and working, and the working efficiency is improved.

[0191] For example, as shown in FIG. 11, the two path segments corresponding to the first turning inflection point 31 are path segment 32 and path segment 33, and the included angle between path segment 32 and path segment 33 is obtuse, thus the actual moving track contains the track segment 41 passing through the first turning inflection point 31. The two path segments corresponding to the second turning inflection point 34 are path segment 35 and path segment 36, and the included angle between path segment 35 and path segment 36 is acute, thus the actual moving track contains the track segment 42 not passing through the second turning inflection point 34.

[0192] In some embodiments, in the case that the actual moving track passes through a turning inflection point, the actual moving track does not pass through a key path point located on any one of the two path segments corresponding to the turning inflection point and close to the turning inflection point. Or, in the case that the actual moving track does not pass through a turning inflection point, the actual moving track passes through a key path point located on any one of the two path segments corresponding to the turning inflection point and close to the turning inflection point. This embodiment can ensure that the actual moving track substantially fits the target path, while reducing the turning inflection points of the actual moving track, so that the movable platform does not frequently stop when moving along the actual moving track and working, and the working efficiency is improved.

[0193] For example, as shown in FIG. 12, in the case that the actual moving track contains the track segment 41 passing through the first turning inflection point 31, the track segment 41 passing through the first turning inflection point 31 does not pass through the path key point 321 located on path segment 32, nor the path key point 331 located on path segment 33. In the case that the actual moving track contains the track segment 42 not passing through the second turning inflection point 34, the track segment 42 passing through the second turning inflection point 34 passes through the path key point 351 located on path segment 35, and also passes through the path key point 361 located on path segment 36.

[0194] It should be noted that the greater the turning radius, the smoother the turning path, and passing through the turning inflection point can ensure the fitting degree of the actual moving track and the target path, and further passing through the key path point can improve the moving efficiency; the smaller the turning radius, the more abrupt the turning path, and not passing through the turning inflection point can avoid frequent stops and posture switching, which leads to low moving efficiency and large kinetic energy loss, but further passing through the key path point can avoid the actual moving track being too deviated from the target path.

[0195] In some embodiments, the length of the critical path point and the turning inflection point is positively correlated with the length of the path segment on which the critical path point is located. And / or, the length of the critical path point and the turning inflection point is negatively correlated with the included angle between the two path segments corresponding to the turning inflection point. That is, the longer the path segment on which the critical path point is located, the longer the length of the critical path point and the turning inflection point. The shorter the path segment on which the critical path point is located, the shorter the length of the critical path point and the turning inflection point. The smaller the included angle between the two path segments corresponding to the turning inflection point, the longer the length of the critical path point and the turning inflection point. The larger the included angle between the two path segments corresponding to the turning inflection point, the shorter the length of the critical path point and the turning inflection point.

[0196] For example, as shown in FIG. 12, the included angle between the path segment 32 and the path segment 33 corresponding to the first turning inflection point 31 is greater than the included angle between the path segment 35 and the path segment 36 corresponding to the second turning inflection point 34, and therefore, the length between the path critical point 321 and the first turning inflection point 31 and the length between the path critical point 331 and the first turning inflection point 31 are smaller than the length between the path critical point 351 and the second turning inflection point 34 and the length between the path critical point 361 and the second turning inflection point 34.

[0197] In some embodiments, based on the target path, the actual moving track of the movable platform in the target work area is determined, including: based on the execution sequence of the plurality of sub-paths in the target path, determining the actual moving track of the movable platform in the target work area. Wherein, the execution sequence of the plurality of sub-paths includes: the sub-path close to the boundary of the target work area is executed first, and the work end point of the previous sub-path in the plurality of sub-paths executed in sequence to the point closest to the start point of the next sub-path on the next sub-path.

[0198] In some embodiments, the actual moving track of the movable platform in the target work area includes the transition path segment between the plurality of sub-paths executed in sequence and / or the transition path segment between the plurality of discrete distributed path segments in the fourth sub-path. Wherein, the movable platform does not work when moving on the transition path segment, and / or the corresponding moving speed of the movable platform on the transition path segment is greater than the corresponding moving speed of the movable platform on the plurality of sub-paths. Because the movable platform does not work when moving on the transition path segment, and / or the moving speed of the movable platform on the transition path segment is greater than the moving speed on the sub-paths, the work efficiency can be improved.

[0199] Please refer to FIG. 13, which is a step schematic flow chart of another path planning method provided by the embodiments of the present application.

[0200] As shown in FIG. 13, the path planning method includes steps S201 to S202.

[0201] Step S201, obtaining target information related to the position of the target work area.

[0202] Step S202, planning a target path of the movable platform according to the target information, the target path including a first sub-path and a second sub-path, the first sub-path and the second sub-path being located in the target work area, the first sub-path enclosing a first sub-area, the second sub-path being located in the first sub-area, the second sub-path including a plurality of discretely distributed path segments, and the plurality of discretely distributed path segments not being connected to each other and not surrounding each other.

[0203] In this embodiment, the path planning is performed in the manner of "the outer path surrounding the plurality of discrete path segments in the inner part", in the case where it is difficult to plan in the manner of equal interval everywhere, some areas (for example, the areas where the work has been fully covered) are abandoned, and the second sub-path is planned in the remaining work areas, so that the work efficiency is improved, and the side effects and low efficiency caused by repeated planning or repeated work are avoided.

[0204] For example, as shown in FIG. 14, the target path includes a first sub-path 11 and a second sub-path 12, the first sub-path 11 is planned in the manner of inward shrinking based on the previous sub-path, the second sub-path 12 is planned in the manner of partitioning, the planning manners of the two are different, the first sub-path 11 encloses a first sub-area B, the second sub-path 12 is located in the first sub-area B, the second sub-path 12 includes a path segment 121, a path segment 122 and a path segment 123, the path segment 121, the path segment 122 and the path segment 123 are discretely distributed and not connected to each other and not surrounding each other.

[0205] In some embodiments, the plurality of discretely distributed path segments in the second sub-path include a straight line segment-shaped path segment and / or an enclosure-shaped path segment. The straight line segment-shaped path segment is located in a corner area in the target work area, and / or the enclosure-shaped path segment is located in a non-corner area in the target work area. For example, as shown in FIG. 14, among the path segment 121, the path segment 122 and the path segment 123 included in the second sub-path 12, the path segment 121 and the path segment 122 are both in the shape of enclosure, the path segment 121 is located in a non-corner area B1 in the target work area, the path segment 122 is located in a non-corner area B2 in the target work area, the path segment 123 is in the shape of straight line segment, and the path segment 123 is located in a corner area B3 in the target work area.

[0206] In some embodiments, the straight line segment-shaped path segment and / or the enclosure-shaped path segment is obtained by inward shrinking a part of the path segment in the first sub-path of the sub-area by one work range.

[0207] In some embodiments, the first sub-path is planned differently from the second sub-path. The first sub-path is obtained by normally shrinking the previous sub-path by one job width. The second sub-path is obtained by partitioning planning.

[0208] In some embodiments, the execution order between at least two path segments in the second sub-path is continuous or discontinuous. Where the execution order between at least two path segments in the second sub-path is continuous, the movable platform does not use other sub-paths for job execution during the execution of the second sub-path. Where the execution order between at least two path segments in the second sub-path is discontinuous, the movable platform uses other sub-paths for job execution during the execution of the second sub-path. For example, as shown in FIG. 14, the execution order between path segment 121, path segment 122 and path segment 123 in the second sub-path 12 is continuous. For example, the movable platform first performs a job based on path segment 121, then moves based on the transition path segment between path segment 121 and path segment 122, then performs a job based on path segment 122, then moves based on the transition path segment between path segment 122 and path segment 123, and finally performs a job based on path segment 123.

[0209] In some embodiments, the shape enclosed by the first sub-path is substantially the same as the boundary profile of the target job area. For example, as shown in FIG. 14, the shape enclosed by the first sub-path 11 is substantially the same as the boundary profile 10 of the target job area. In this embodiment, since the shape enclosed by the first sub-path included in the target path is substantially the same as the boundary profile of the target job area, the target path has fewer turning inflection points, so that the movable platform does not need to frequently decelerate when using the target path for job execution, thereby improving job efficiency.

[0210] In some embodiments, the shape of the second sub-path is different from the shape of the first sub-path, and / or the shape of the second sub-path is different from the shape of the boundary profile of the target job area. For example, as shown in FIG. 14, the shape of the second sub-path 12 is different from the shape of the first sub-path 11, and the shape of the second sub-path 12 is different from the shape of the boundary profile 10 of the target job area.

[0211] In some embodiments, the target path further comprises a third sub-path. The third sub-path is obtained by inwardly shrinking the boundary contour of the target work area by half of the work width, and the third sub-path encloses a shape that is substantially the same as the boundary contour of the target work area. For example, as shown in FIG. 14, the target path further comprises a third sub-path 13, and the third sub-path 13 is obtained by inwardly shrinking the boundary 10 of the target work area by half of the work width, the third sub-path 13 encloses a shape that is substantially the same as the boundary contour 10 of the target work area, and the third sub-path is the first work path of the target path.

[0212] In some embodiments, the inwardly shrinking distance between the third sub-path and the sub-path adjacent to the third sub-path and away from the inner side of the target work area is less than the inwardly shrinking distance between the first sub-path and the second sub-path. Further, the inwardly shrinking distance between the third sub-path and the sub-path adjacent to the third sub-path and away from the inner side of the target work area is half of the inwardly shrinking distance between the first sub-path and the second sub-path. For example, as shown in FIG. 14, the sub-path adjacent to the third sub-path 13 and away from the inner side of the target work area is the first sub-path 11, i.e., the inwardly shrinking distance d2 between the third sub-path 13 and the first sub-path 11 is less than the inwardly shrinking distance d1 between the first sub-path 11 and the second sub-path 12.

[0213] In some embodiments, the inwardly shrinking distance between the first sub-path and the second sub-path is related to the work width. Further, the inwardly shrinking distance between the first sub-path and the second sub-path is determined according to the work width. In the embodiments, the distance between adjacent sub-paths in the target path is determined according to the work width of the work load carried by the movable platform, so that the movable platform can effectively cover the entire target work area when the movable platform works using the target path, and the work effect is good.

[0214] In some embodiments, the target path meets at least one of the following conditions: in the case where there is an overlap between the work coverage ranges corresponding to the path segments of two adjacent sub-paths in the target path, the work width corresponding to the work of the movable platform on the path segments of the two adjacent sub-paths is different; in the case where there is an overlap between the work coverage ranges corresponding to different path segments of the same sub-path in the target path, the work width corresponding to the work of the movable platform on the different path segments is different. In the embodiments, in the case where there is an overlap between the work coverage ranges corresponding to different path segments of the same sub-path and / or there is an overlap between the work coverage ranges corresponding to the path segments of two adjacent sub-paths, the movable platform changes the work load, so that the movable platform uses different work widths on the different path segments where there is an overlap in the work coverage range, which can avoid repeated work on the area where the path segments corresponding to the overlap are located on the basis of ensuring comprehensive work coverage, and improve the work effect.

[0215] In some embodiments, according to the target information, planning the target path of the movable platform can include: shrinking the boundary of the target work area by half of the work range of the work load carried by the movable platform, obtaining a first sub-path in the case of successful shrinking of the boundary of the target work area; determining the starting point and the work end point of the first sub-path according to the starting point of the movable platform, and determining the execution order of the first sub-path, the line connecting the starting point and the starting point of the first sub-path is approximately perpendicular to the path segment where the starting point of the first sub-path is located; shrinking the first sub-path by the work range of the work load carried by the movable platform, in the case of failure to shrink the first sub-path, shrinking the first sub-path by half of the work range of the work load carried by the movable platform, in the case of still failing to shrink the first sub-path, splitting the enclosed area formed by the first sub-path into multiple discrete sub-areas, according to the multiple sub-areas, planning a second sub-path, the second sub-path includes at least two path segments distributed discretely in the target work area, and the at least two path segments are not connected to each other and do not surround each other; determining the starting point and the end point of the second sub-path according to the end point of the first sub-path, and determining the execution order of the first sub-path and the second sub-path, the line connecting the starting point of the second sub-path and the end point of the first sub-path is approximately perpendicular to the path segment where the starting point of the second sub-path is located.

[0216] In some embodiments, the planning of the target path of the movable platform according to the target information can include: shrinking the boundary of the target work area by one-half of the work range, obtaining a third sub-path in the case of successful shrinking; determining the start point and the end point of the third sub-path according to the starting point of the movable platform, and determining the execution order of the third sub-path, the line connecting the start point and the end point of the third sub-path being substantially perpendicular to the path segment where the start point of the third sub-path is located; shrinking the third sub-path by one work range, shrinking the third sub-path by half a work range in the case of failure of shrinking the third sub-path by one work range, and obtaining a first sub-path in the case of successful shrinking of the third sub-path by half a work range; determining the start point and the end point of the first sub-path according to the end point of the third sub-path, and determining the execution order of the third sub-path and the first sub-path, the line connecting the start point of the first sub-path and the end point of the third sub-path being substantially perpendicular to the path segment where the start point of the first sub-path is located; shrinking the first sub-path by one work range, shrinking the first sub-path by half a work range in the case of failure of shrinking the first sub-path by one work range, and splitting the enclosed area formed by the first sub-path into a plurality of discrete sub-areas in the case of still failure of shrinking the first sub-path by one work range, planning a second sub-path according to the plurality of sub-areas, the second sub-path including at least two path segments that are discretely distributed in the target work area and are not connected to each other and not surrounded by each other; determining the start point and the end point of the second sub-path according to the end point of the first sub-path, and determining the execution order of the first sub-path and the second sub-path, the line connecting the start point of the second sub-path and the end point of the first sub-path being substantially perpendicular to the path segment where the start point of the second sub-path is located.

[0217] In some embodiments, after step S203, the method further includes: controlling the power device of the movable platform to make the movable platform work in the target work area based on the target path. In some scenarios, the present embodiment realizes the integration of planning and working by controlling the power device of the movable platform to operate immediately after the target path of the movable platform is planned, so that the movable platform works in the target work area based on the target path, thereby improving the real-time performance of the work.

[0218] In some embodiments, the working of the target path in the target working area comprises: determining an actual moving track of the movable platform in the target working area based on the target path, and controlling the movable platform to move and work along the actual moving track. Wherein, the actual moving track is different from at least part of the target path, and a turning inflection point is formed between two path segments connected to each other in the same sub-path in the target path, and the actual moving track includes part of the turning inflection point of the target path. Since the movable platform moves and works strictly according to the target path, the working efficiency is low due to frequent pauses. Therefore, the actual moving track of the movable platform is determined based on the target path in the embodiment, so as to optimize the path, so that the movable platform does not pause frequently when moving and working along the actual moving track, and the working efficiency is improved.

[0219] In some embodiments, the actual moving track of the movable platform and the target path are displayed in different ways at least in part of the path segments on the interactive interface; and / or, the actual moving track of the movable platform is determined based on smoothing processing of the target path. In the embodiment, the actual moving track of the movable platform and the target path are displayed in different ways at least in part of the path segments on the interactive interface, so that the user can know the commonness and difference between the actual moving track and the target path. Since the actual moving track is determined based on the smoothing processing of the target path in the embodiment, the turning inflection point of the actual moving track is reduced, so that the movable platform does not pause frequently when moving and working along the actual moving track, and the working efficiency is improved.

[0220] In some embodiments, a turning inflection point is formed between two path segments connected to each other in the same sub-path in the target path, the same sub-path in the target path includes a plurality of turning inflection points, the plurality of turning inflection points include a first turning inflection point and a second turning inflection point, and the moving speed of the movable platform at the first turning inflection point is greater than the moving speed of the movable platform at the second turning inflection point in the case that the angle between the two path segments corresponding to the first turning inflection point is greater than the angle between the two path segments corresponding to the second turning inflection point. Wherein, the moving speed of the movable platform at the turning inflection point is positively correlated with the angle between the two path segments corresponding to the turning inflection point, that is, the greater the angle between the two path segments corresponding to the turning inflection point, the faster the moving speed of the movable platform at the turning inflection point, and the smaller the angle between the two path segments corresponding to the turning inflection point, the slower the moving speed of the movable platform at the turning inflection point.

[0221] In some embodiments, the control of the movable platform to move along the actual moving track and work includes: when the included angle between the two path segments corresponding to the turning inflection point is greater than or equal to the preset included angle, controlling the actual moving track to pass through the turning inflection point; otherwise, controlling the actual moving track not to pass through the turning inflection point. The preset included angle is an obtuse angle. This embodiment can ensure that the actual moving track substantially fits the target path, while reducing the turning inflection points of the actual moving track, so that the movable platform does not frequently stop when moving along the actual moving track and working, and the work efficiency is improved.

[0222] For example, as shown in FIG. 11, the two path segments corresponding to the first turning inflection point 31 are the path segment 32 and the path segment 33, and the included angle between the path segment 32 and the path segment 33 is an obtuse angle. Therefore, the actual moving track includes the track segment 41 passing through the first turning inflection point 31. The two path segments corresponding to the second turning inflection point 34 are the path segment 35 and the path segment 36, and the included angle between the path segment 35 and the path segment 36 is an acute angle. Therefore, the actual moving track includes the track segment 42 not passing through the second turning inflection point 34.

[0223] In some embodiments, in the case that the actual moving track passes through the turning inflection point, the actual moving track does not pass through the key path point located on any one of the two path segments corresponding to the turning inflection point and close to the turning inflection point. Or, in the case that the actual moving track does not pass through the turning inflection point, the actual moving track passes through the key path point located on any one of the two path segments corresponding to the turning inflection point and close to the turning inflection point. This embodiment can ensure that the actual moving track substantially fits the target path, while reducing the turning inflection points of the actual moving track, so that the movable platform does not frequently stop when moving along the actual moving track and working, and the work efficiency is improved.

[0224] For example, as shown in FIG. 12, in the case that the actual moving track includes the track segment 41 passing through the first turning inflection point 31, the track segment 41 passing through the first turning inflection point 31 does not pass through the path key point 321 located on the path segment 32, nor the path key point 331 located on the path segment 33. In the case that the actual moving track includes the track segment 42 not passing through the second turning inflection point 34, the track segment 42 passing through the second turning inflection point 34 passes through the path key point 351 located on the path segment 35, and also passes through the path key point 361 located on the path segment 36.

[0225] In some embodiments, the length of the critical path point and the turning inflection point is positively correlated with the length of the path segment on which the critical path point is located. And / or, the length of the critical path point and the turning inflection point is negatively correlated with the included angle between the two path segments corresponding to the turning inflection point. That is, the longer the path segment on which the critical path point is located, the longer the length of the critical path point and the turning inflection point. The shorter the path segment on which the critical path point is located, the shorter the length of the critical path point and the turning inflection point. The smaller the included angle between the two path segments corresponding to the turning inflection point, the longer the length of the critical path point and the turning inflection point. The larger the included angle between the two path segments corresponding to the turning inflection point, the shorter the length of the critical path point and the turning inflection point.

[0226] For example, as shown in FIG. 12, the included angle between the path segment 32 and the path segment 33 corresponding to the first turning inflection point 31 is greater than the included angle between the path segment 35 and the path segment 36 corresponding to the second turning inflection point 34, and therefore, the length between the path critical point 321 and the first turning inflection point 31 and the length between the path critical point 331 and the first turning inflection point 31 are smaller than the length between the path critical point 351 and the second turning inflection point 34 and the length between the path critical point 361 and the second turning inflection point 34.

[0227] In some embodiments, based on the target path, the actual moving trajectory of the movable platform in the target work area is determined, including: based on the execution order of the plurality of sub-paths in the target path, determining the actual moving trajectory of the movable platform in the target work area. Wherein, the execution order of the plurality of sub-paths includes: the sub-path close to the boundary of the target work area is executed first, and the work end point of the previous sub-path in the plurality of sub-paths executed in sequence to the nearest point on the next sub-path is the starting point of the next sub-path. For example, as shown in FIG. 14, the execution order of the first sub-path 11, the second path 12 and the third path 13 is: first execute the third path 13, then execute the first sub-path 11, and finally execute the second path 12.

[0228] In some embodiments, the actual moving trajectory of the movable platform in the target work area includes the transition path segment between the plurality of sub-paths executed in sequence and / or the transition path segment between the plurality of discrete distributed path segments in the second sub-path. Wherein, the movable platform does not work when moving on the transition path segment, and / or the corresponding moving speed of the movable platform on the transition path segment is greater than the corresponding moving speed of the movable platform on the plurality of sub-paths. Because the movable platform does not work when moving on the transition path segment, and / or the moving speed of the movable platform on the transition path segment is greater than the moving speed on the sub-path, the work efficiency can be improved.

[0229] For example, as shown in FIG. 15, the actual moving track of the movable platform in the target working area includes a transition path segment 51 between the third sub-path 13 and the first sub-path 11, a transition path segment 52 between the first sub-path 11 and the second sub-path 12 (a path segment 121 in the second sub-path 12), a transition path segment 53 between the second sub-path 12 (a path segment 123 in the second sub-path 12) and the fourth sub-path 14, a transition path segment 54 between the path segment 121 and the path segment 122, and a transition path segment 55 between the path segment 122 and the path segment 123. The movable platform does not work when moving through the transition path segment 51, the transition path segment 52, the transition path segment 53, the transition path segment 54, and the transition path segment 55. Optionally, the moving speed of the movable platform when moving through the transition path segment 51, the transition path segment 52, the transition path segment 53, the transition path segment 54, and the transition path segment 55 is faster than the speed of the movable platform when moving based on the target path, so as to save the overall working time.

[0230] In some embodiments, the path planning method comprises: obtaining target information related to the position of a target working area, wherein the boundary of the target working area comprises an inner recessed part that is recessed towards the inside; and planning a target path of a movable platform according to the target information, the target path comprising a first sub-path, the first sub-path being in a closed shape and being obtained by shrinking or extrapolating the target information of the target working area by a preset distance. The target information is used to indicate the boundary contour of the target working area, the first sub-path is obtained by shrinking the boundary contour of the target working area by a preset distance, or the first sub-path is obtained by extrapolating the boundary contour of the target working area by a preset distance, the preset distance being related to the working range of a working load carried by the movable platform, for example, the preset distance being half of the working range of the working load carried by the movable platform.

[0231] Referring to FIG. 16, FIG. 16 is a step schematic flowchart of another path planning method provided by the embodiments of the present application.

[0232] As shown in FIG. 16, the path planning method comprises steps S301 to S302.

[0233] In step S301, target information related to the position of a target working area is obtained, the target working area being non-rectangular.

[0234] In step S302, a target path of the movable platform is planned according to the target information, the target path includes a first sub-path and a second sub-path, the second sub-path is located in a first sub-region enclosed by the first sub-path, and the second sub-path is planned in a manner different from that of the first sub-path; the distribution of the second sub-path is related to a relative position relationship between the first virtual circle and the second virtual circle, and the relative position relationship includes a case that the shortest distance between the circumferences of the first virtual circle and the second virtual circle is less than four times the first preset distance, and the first preset distance is half of the working range of the working load of the movable platform when working on the first sub-path.

[0235] It should be noted that when the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than or equal to four times the first preset distance, it indicates that the first sub-path can be normally shrunk by one working range to obtain the second sub-path, the second sub-path is located in the enclosed region of the first sub-path, the first sub-path and the second sub-path are substantially the same shape, and the working load of the movable platform can work full range when working on the second sub-path, and there is no overlap with the working coverage of the second sub-path. In this embodiment, the relative position relationship includes the case that the shortest distance between the circumferences of the first virtual circle and the second virtual circle is less than four times the first preset distance, that is, the condition of normal shrinking is not met, and therefore a planning manner different from the first sub-path needs to be set for the second sub-path to solve the shrinking planning in this specific case.

[0236] In this embodiment, the first virtual circle includes a circle with the first path point of the first sub-path as the center and the first preset distance as the radius, and the second virtual circle includes a circle with the second path point of the first sub-path as the center and the first preset distance as the radius, and the virtual line between the first path point and the second path point is perpendicular to at least one of the path segments where the first path point and the second path point are located. In this embodiment, the path planning is performed in the manner of "determining the distribution of the inner layer path based on the relative relationship between the multiple virtually arranged virtual circles on the outer layer path, and the path points on the outer layer path as the center of the virtual circle, and the working range of the working load carried by the movable platform as the diameter", which can obtain a multi-layer surrounding path, thereby achieving full coverage and improving the working efficiency.

[0237] For example, as shown in FIG. 17, the first virtual circle 112 is a circle with the first path point 111 of the first sub-path 11 as the center and the first preset distance as the radius, the second virtual circle 114 is a circle with the second path point 113 of the first sub-path 11 as the center and the first preset distance as the radius, the virtual line 115 between the first path point 111 and the second path point 113 is perpendicular to the path segment where the second path point 113 is located, and the first sub-path 11 is obtained by shrinking the boundary contour 10 of the target working area by the first preset distance.

[0238] In some embodiments, the path segment where the first path point is located and the path segment where the second path point is located further satisfy at least one of the following conditions: for example, as shown in FIG. 17, the path segment where the first path point 111 is located and the path segment where the second path point 113 is located are not adjacent; the path segment where the first path point 111 is located and the path segment where the second path point 113 is located are oppositely arranged, further, the path segment where the first path point 111 is located and the path segment where the second path point 113 is located are the turn-back paths of the first sub-path oppositely arranged; the first moving direction 116 corresponding to the movable platform at the first path point 111 and the second moving direction 117 corresponding to the movable platform at the second path point 113 are approximately opposite in trend.

[0239] In some embodiments, the relative positional relationship between the first virtual circle and the second virtual circle includes a first relative positional relationship, the first relative positional relationship indicating that the first virtual circle and the second virtual circle intersect or are tangent. Further, in the case where the relative positional relationship between the first virtual circle and the second virtual circle satisfies the first relative positional relationship, the second sub-path does not pass through the region where the first virtual circle and the second virtual circle intersect or the point where the first virtual circle and the second virtual circle are tangent. For example, as shown in FIG. 18, there are virtual circle pairs (a virtual circle pair includes a first virtual circle and a second virtual circle) in the plurality of virtual circle pairs of the first sub-path 11, the relative positional relationship of which satisfies the first relative positional relationship, and the second sub-path 12 does not pass through the region where the first virtual circle and the second virtual circle intersect (for example, the region d in FIG. 18) or the point where the first virtual circle and the second virtual circle are tangent (for example, the tangent point 118 of the first virtual circle 112 and the second virtual circle 114).

[0240] In some embodiments, in the case where the relative positional relationship satisfies the first relative positional relationship, the region where the first virtual circle and the second virtual circle intersect or the point where the first virtual circle and the second virtual circle are tangent is used as a boundary to divide the remaining part of the first sub-region into at least two discrete distribution sub-regions, and a regional path segment is planned in at least one of the sub-regions, and the second sub-path includes at least one regional path segment. The at least one regional path segment includes discrete distribution first regional path segments and second regional path segments, and the first regional path segments and the second regional path segments are neither connected to each other nor surrounded by each other. Since the virtual circles on the first sub-path represent the work coverage range of the movable platform, and in the case where the first virtual circle and the second virtual circle intersect or are tangent, it indicates that the tangent point or the intersection region has been completely covered based on the work of the first sub-path, so there is no need to repeatedly plan the path and repeatedly work on the tangent point or the intersection region, but only to use the tangent point or the intersection region as a boundary to subdivide the remaining region, and then to plan, thereby improving the work efficiency on the basis of achieving full coverage of the work.

[0241] For example, as shown in FIGS. 18 and 19, the remaining part of the first sub-area enclosed by the first sub-path 11 can be divided into two discrete sub-areas, in which the second sub-path 12 is planned, by taking the intersection area or the tangent point of each virtual circle pair as a boundary. The second sub-path 12 includes at least one area path segment, specifically, the second sub-path 12 includes a first area path segment 121 and a second area path segment 122, and the first area path segment 121 and the second area path segment 122 are discretely distributed and neither connected nor surrounded by each other.

[0242] In some embodiments, the execution sequence corresponding to the first area path segment and the second area path segment is continuous or discontinuous. The execution sequence corresponding to the first area path segment and the second area path segment is continuous, which means that the movable platform first operates based on one of the first area path segment and the second area path segment, and then operates based on the other one of the first area path segment and the second area path segment in sequence in the process of operation. The execution sequence corresponding to the first area path segment and the second area path segment is discontinuous, which means that the movable platform first operates based on one of the first area path segment and the second area path segment, and then operates based on other sub-paths, and then operates based on the other one of the first area path segment and the second area path segment, and the execution sequence of the two is not connected. For example, as shown in FIG. 18, the execution sequence corresponding to the first area path segment 121 and the second area path segment 122 is continuous, that is, the movable platform first operates based on the first area path segment 121, and then operates based on the second area path segment 122 in the process of operation.

[0243] In some embodiments, the at least one area path segment includes a linear segment-shaped path segment and / or a surrounding-shaped path segment. The surrounding-shaped path segment has a shape substantially the same as the contour shape of the sub-area in which it is located, and the linear segment-shaped path segment is located in the corner area of the target operation area, and / or the surrounding-shaped path segment is located in the non-corner area of the target operation area. The linear segment-shaped path segment does not include an arch-shaped path segment. For example, as shown in FIG. 19, the remaining part of the first sub-area enclosed by the first sub-path 11 can be divided into two discrete sub-areas, in which the second sub-path 12 is planned, by taking the intersection area or the tangent point of each virtual circle pair as a boundary. The second sub-path 12 includes a first area path segment 121 and a second area path segment 122, the first area path segment 121 is a linear segment-shaped path segment, and the second area path segment 122 is a surrounding-shaped path segment, and the shape of the second area path segment 122 is substantially the same as the contour shape of the sub-area in which it is located.

[0244] In some embodiments, if the work coverage corresponding to the path segment in straight line segment shape has been able to cover the remaining un-planned area, the path segment in straight line segment shape is prioritized to be planned; if the work coverage corresponding to the path segment in straight line segment shape is insufficient to cover the remaining un-planned area, the path segment in closed shape is prioritized to be planned, and the greater work coverage is achieved by the turning path segment of the path segment in closed shape.

[0245] In some embodiments, the relative positional relationship between the first virtual circle and the second virtual circle comprises a second relative positional relationship, the second relative positional relationship indicating that the first virtual circle and the second virtual circle do not overlap, and the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than zero. The second relative positional relationship further indicates that the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than the first preset distance and less than or equal to twice the first preset distance. For example, as shown in FIG. 20, the first sub-path 11 is obtained by inwardly shrinking the boundary contour 10 of the target work area by the first preset distance, and the shortest distance between the circumferences of the first virtual circle 112 and the second virtual circle 114 is greater than the first preset distance and less than or equal to twice the first preset distance.

[0246] In some embodiments, in the case of meeting the second relative positional relationship, the second sub-path satisfies condition one or condition two, condition one: the inwardly shrinking distance between the second sub-path and the first sub-path is less than twice the first preset distance and greater than or equal to the first preset distance; condition two: the second sub-path comprises a path in straight line segment shape formed between the first virtual circle and the second virtual circle. Further, in condition one, the inwardly shrinking distance between the second sub-path and the first sub-path is equal to the first preset distance. For example, as shown in FIG. 20, the first sub-path 11 is obtained by inwardly shrinking the boundary contour 10 of the target work area by the first preset distance, and the second sub-path 12 is obtained by inwardly shrinking the first sub-path 11 by the first preset distance.

[0247] In some embodiments, the second sub-path satisfies the priority of condition one and condition two, at least one of the following situations is met: if the first path point and the second path point are located in the corner region of the target work area, the second sub-path satisfies the priority of condition two greater than condition one; if the first path point and the second path point are located in the non-corner region of the target work area, the second sub-path satisfies the priority of condition one greater than condition two.

[0248] In some embodiments, in condition one, the second sub-path and the first sub-path each correspond to a different work range of the path segment between the first virtual circle and the second virtual circle. This embodiment is due to condition one being that the retracted distance between the second sub-path and the first sub-path is less than twice the first preset distance and greater than or equal to the first preset distance, and the work coverage range of the movable platform is twice the first preset distance, which results in the work coverage range of the movable platform in the second sub-path overlapping the work coverage range of the movable platform in the first sub-path. To this end, by setting the second sub-path and the first sub-path each correspond to a different work range of the path segment between the first virtual circle and the second virtual circle, the repeated work on the area where the corresponding path segment is located can be avoided on the basis of ensuring comprehensive work coverage, and the work effect is improved.

[0249] For example, as shown in FIG. 20, the entire second sub-path 12 is located between the first virtual circle and the second virtual circle. In the process of using the first sub-path 11 to work, the work loads on both sides of the movable platform are in a working state. In the process of using the second sub-path 12 to work, the work load close to the first sub-path 11 of the movable platform is in an idle state, and the work load on the other side is in a working state. Alternatively, in the process of using the first sub-path 11 to work, the work load close to the second sub-path 12 of the movable platform is in an idle state, and the work load on the other side is in a working state. In the process of using the second sub-path 12 to work, the work loads on both sides of the movable platform are in a working state.

[0250] In some embodiments, the second relative position relationship further indicates that the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than twice the first preset distance and less than four times the first preset distance. In this case, the second sub-path and the first sub-path each correspond to a different work range of the path segment between the first virtual circle and the second virtual circle. Since the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than twice the first preset distance and less than four times the first preset distance, the retracted distance between the planned second sub-path and the first sub-path can also be greater than twice the first preset distance and less than four times the first preset distance. For example, the retracted distance between the second sub-path and the first sub-path is twice the first preset distance, but this results in the work coverage range of the movable platform in the second sub-path overlapping the work coverage range of the movable platform in the first sub-path. To this end, by setting the second sub-path and the first sub-path each correspond to a different work range of the path segment between the first virtual circle and the second virtual circle, the repeated work on the area where the corresponding path segment is located can be avoided on the basis of ensuring comprehensive work coverage, and the work effect is improved.

[0251] In some embodiments, the relative positional relationship between the first virtual circle and the second virtual circle further includes a case where the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than or equal to four times the first preset distance. The work ranges of the first sub-path and the second sub-path corresponding to the path segments between the first virtual circle and the second virtual circle are the same. Since the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than or equal to four times the first preset distance, the inwardly retracted distance between the second sub-path and the first sub-path is also greater than or equal to four times the first preset distance, for example, the inwardly retracted distance between the second sub-path and the first sub-path is four times the first preset distance, and there is no overlap between the work coverage of the movable platform on the second sub-path and the work coverage of the movable platform on the first sub-path, so that by setting the work ranges of the first sub-path and the second sub-path corresponding to the path segments between the first virtual circle and the second virtual circle to be the same, comprehensive work coverage can be achieved, and work efficiency is improved.

[0252] In some embodiments, in the case where the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than two times the first preset distance and less than four times the first preset distance or the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than or equal to four times the first preset distance, the second sub-path has a shape substantially the same as the first sub-path. Further, the second sub-path has a boundary profile substantially the same as the target work area.

[0253] In some embodiments, the first preset distance is half of the work range of the work load, so that unilateral start or stop of the work load is relatively easy to control.

[0254] Referring to FIG. 21, FIG. 21 is a step schematic flowchart of another path planning method provided by an embodiment of the present application.

[0255] As shown in FIG. 21, the path planning method includes steps S401 to S402.

[0256] In step S401, target information related to the position of a target work area is obtained, where the target work area is a concave polygon or a concave arc.

[0257] In this embodiment, the target work area can be an area that needs to be surveyed, photographed, sprayed, scattered, dropped or cleaned. The target work area can be a planar work area, an inclined work area or a vertical work area, for example, the target work area is one of a farmland, an orchard, a surface of a cliff or a surface of a building.

[0258] Step S402, planning a target path of the movable platform according to the target information, the target path including a first sub-path and a second sub-path, the first sub-path enclosing a first sub-region, the second sub-path being located in the first sub-region, the target path conforming to any one of mode one and mode two, and the closer the first sub-path is to the interior of the target work region, the higher the priority of mode one over mode two, and / or the farther the first sub-path is from the interior of the target work region, the higher the priority of mode two over mode one, mode one being that the second sub-path includes a plurality of discretely distributed path segments, the plurality of discretely distributed path segments neither being connected to each other nor surrounding each other, and mode two being that a first distance between a path point on the first sub-path and a path point on the second sub-path closest to the first sub-path is different from a second distance between the path point on the second sub-path and a path point on a third sub-path closest to the second sub-path, the first sub-path, the second sub-path and the third sub-path being adjacent to each other in sequence.

[0259] In this embodiment, the multi-layer surrounding path is obtained by adopting the mode of unequal distances between the inner and outer layers of paths and / or the mode of the outer layer of paths surrounding the plurality of discrete path segments of the inner layer. The farther the first sub-path is from the interior of the target work region, the more preferentially the planning mode of unequal distances is adopted, with overall coverage of the work region as a high priority, and / or the closer the first sub-path is to the interior of the target work region, the more preferentially the planning mode of partition is adopted, with improving work efficiency as a high priority on the condition that overall coverage of the work region has been basically achieved.

[0260] It should be noted that the path planning method described in this embodiment and the path planning methods of all the foregoing embodiments have the same or similar structure and principles. It can be clearly understood by those skilled in the art that one or more embodiments of the foregoing embodiments can be applied to the path planning method of this embodiment, and this embodiment will not be described here.

[0261] Please refer to FIG. 22, which is a step schematic flow chart of another path planning method provided by an embodiment of the present application.

[0262] As shown in FIG. 22, the path planning method includes steps S501 to S502.

[0263] Step S501, obtaining target information related to the position of a target work region, wherein the boundary of the target work region includes an inner recessed portion recessed toward the interior.

[0264] Step S502, planning a target path of the movable platform according to the target information, the target path including a first sub-path, a second sub-path and a third sub-path which are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are all located in the target work area and each respectively enclose to form a first sub-region, a second sub-region and a third sub-region, the second sub-region is located in the first sub-region, the third sub-region is located in the second sub-region, a first interval between the first sub-path and the second sub-path is not equal to a second interval between the second sub-path and the third sub-path, a first work range corresponding to the use of the first sub-path by the movable platform and / or a second work range corresponding to the use of the second sub-path by the movable platform is related to the first interval, a second work range corresponding to the use of the second sub-path by the movable platform and / or a third work range corresponding to the use of the third sub-path by the movable platform is related to the second interval, at least two of the first work range, the second work range and the third work range are different.

[0265] The embodiment is applicable to the irregularly shaped work area including the inner recess, and the path planning is performed in the manner of "different intervals between different inner and outer layers of paths combined with different work ranges supported by the movable platform". In the case that the size of the target work area is limited, the multi-layer surrounding path with different intervals is obtained, so that the movable platform can work in different work modes when working in the multi-layer surrounding path with different intervals, full coverage is achieved, and work efficiency is improved.

[0266] It should be noted that the path planning method described in the embodiment and the path planning methods of all the foregoing embodiments have the same or similar structure and principles. It can be clearly understood by those skilled in the art that one or more embodiments of the foregoing embodiments can be applied to the path planning method of the embodiment, and the embodiment will not be repeated here.

[0267] Please refer to FIG. 23, which is a step schematic flow chart of another path planning method provided by the embodiment of the application.

[0268] As shown in FIG. 23, the path planning method includes steps S601 to S602.

[0269] Step S601, obtaining target information related to the position of a target work area, wherein the outer boundary of the target work area includes an inner recess that is recessed towards the inside;

[0270] Step S602: planning a target path of the movable platform according to the target information, the target path including a first sub-path and a second sub-path, the first sub-path and the second sub-path being located in the target work area, the first sub-path enclosing a first sub-area, and the second sub-path being located in the first sub-area and including a plurality of discretely distributed path segments, a distance between the first sub-path and the second sub-path being related to a working range of the movable platform.

[0271] For the irregularly shaped work area including the inner recess, the path planning method of the embodiment adopts the way of "unifying the outer path into a large circle enclosed by the first sub-path, and planning the second sub-path based on the working range in the first sub-area", which can improve the work efficiency and avoid the side effects and inefficiency caused by repeated planning or work in the case that it is difficult to plan the path with equal distance in all areas.

[0272] It should be noted that the path planning method of the embodiment has the same or similar structure and principle as the path planning methods of all the foregoing embodiments, and one or more embodiments of the foregoing embodiments can be applied to the path planning method of the embodiment, which will not be described herein.

[0273] Please refer to FIG. 24, which is a step schematic flowchart of another path planning method provided by an embodiment of the application.

[0274] As shown in FIG. 24, the path planning method includes steps S701 to S702.

[0275] Step S701: obtaining target information related to a position of a target work area, wherein a boundary of the target work area includes an inner recess that is recessed towards the inside;

[0276] Step S702: planning a target path of the movable platform according to the target information, the target path including a first sub-path and a second sub-path, the second sub-path being located in a first sub-area enclosed by the first sub-path, and a distance between the second sub-path and the first sub-path being uniformly set, a shape of the second sub-path being determined based on a positional relationship between a virtual circle on one side of the first sub-path and a virtual circle on the other side of the first sub-path, the shape of the second sub-path being different from that of the first sub-path when the virtual circle on one side of the first sub-path intersects or is tangent to the virtual circle on the other side of the first sub-path, and the virtual circle having a path point of the first sub-path as a center and a working range of the movable platform as a diameter.

[0277] The embodiment is suitable for the non-regular-shaped work area including the inner recess, and the path planning is performed in the manner of "determining the distribution of the inner layer path based on the correlation between the plurality of relatively arranged virtual circles on the outer layer path, and taking the path points on the outer layer path as the centers of the virtual circles and the work range as the diameter", and the corresponding distribution of the second sub-path is determined according to the size characteristics of the un-planned area in the work area, so that the multi-layer surrounding flight path planning is realized in the size limited case, and the work efficiency is improved.

[0278] It should be noted that the path planning method described in the embodiment and the path planning methods of all the foregoing embodiments have the same or similar structure and principles. It can be clearly understood by those skilled in the art that one or more embodiments of the foregoing embodiments can be applied to the path planning method of the embodiment, and the embodiment will not be repeated here.

[0279] Referring to FIG. 25, FIG. 25 is a step schematic flow chart of a control method provided by an embodiment of the application.

[0280] As shown in FIG. 25, the control method includes steps S801 to S802.

[0281] In step S801, a target path of a movable platform is obtained.

[0282] In step S802, current positioning information of the movable platform is obtained, and a power device of the movable platform is controlled based on the target path and the current positioning information, so that the movable platform moves based on the target path.

[0283] The target path in the above steps is the same as or similar to the target path principle obtained by any of the foregoing embodiments. It can be clearly understood by those skilled in the art that one or more embodiments of the foregoing embodiments can be applied to the planning of the target path in the embodiment, and the details will not be repeated here.

[0284] Referring to FIG. 26, FIG. 26 is a structural schematic block diagram of a device provided by an embodiment of the application.

[0285] As shown in FIG. 26, the device 300 includes at least one processor 301 and at least one memory 302, and the at least one processor 301 and the at least one memory 302 are connected through a bus 303 such as an I2C (Inter-integrated Circuit) bus. The device 300 can be applied to a control terminal and can also be applied to a movable platform. The device 300 can include a path planning device and / or a control device.

[0286] Specifically, the processor 301 can be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc.

[0287] Specifically, the memory 302 can be a flash chip, a read-only memory (ROM) disk, an optical disk, a U disk or a mobile hard disk, etc.

[0288] At least one of the memory 302 and the computer program code is configured to, together with the at least one processor 301, cause the apparatus 300 at least to execute the computer program and, when the computer program is executed, implement any of the path planning methods or control methods provided in the foregoing embodiments.

[0289] It should be noted that, for the convenience and brevity of description, the specific working process of the apparatus described above can refer to the corresponding process in the foregoing path planning method or control method embodiments, which will not be described herein again.

[0290] Please refer to FIG. 27, which is a structural schematic block diagram of a movable platform provided in an embodiment of the present application.

[0291] As shown in FIG. 27, the movable platform 100 comprises a platform body 110, a power device 120 and a control device 140, the platform body 110 is used to carry a work load 130, the power device 120 is arranged on the platform body 110 and is used to provide moving power for the movable platform 100, and the control device 140 is arranged on the platform body 110 and is used to implement any of the path planning methods or control methods provided in the foregoing embodiments.

[0292] It should be noted that, for the convenience and brevity of description, the specific working process of the movable platform described above can refer to the corresponding process in the foregoing path planning method or control method embodiments, which will not be described herein again.

[0293] Please refer to FIG. 28, which is a structural schematic block diagram of a system provided in an embodiment of the present application.

[0294] As shown in FIG. 28, the system 1000 includes a movable platform 100 and a control terminal 200 for controlling the movable platform 100. It should be noted that the specific working process of the system described above can refer to the corresponding process in the foregoing path planning method or control method embodiments for the convenience and brevity of description, which will not be described here.

[0295] The embodiments of the present application also provide a storage medium for computer readable, the storage medium stores a computer program, the computer program includes program instructions, the processor executes the program instructions, and the path planning method or control method provided by the foregoing embodiments is realized.

[0296] The storage medium can be an internal storage unit of the control terminal or the movable platform, such as a hard disk or a memory of the control terminal or the movable platform. The storage medium can also be an external storage device of the control terminal or the movable platform, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0297] It should be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0298] It should also be understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0299] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for path planning of a movable platform, characterized in that, The method comprises: obtaining target information related to a position of a target work area; and planning a target path of the movable platform according to the target information; wherein (a) the target path comprises a first sub-path, a second sub-path and a third sub-path which are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are located within the target work area and each enclose a first sub-area, a second sub-area and a third sub-area respectively, the second sub-area is located within the first sub-area, and the third sub-area is located within the second sub-area; (b) a first spacing between a path point on the first sub-path and a nearest path point on the second sub-path is different from a second spacing between a path point on the second sub-path and a nearest path point on the third sub-path; (c) a first work mode corresponding to the use of the first sub-path by the movable platform and / or a second work mode corresponding to the use of the second sub-path by the movable platform is related to the first spacing, and a second work mode corresponding to the use of the second sub-path by the movable platform and / or a third work mode corresponding to the use of the third sub-path by the movable platform is related to the second spacing, and at least two of the first work mode, the second work mode and the third work mode are different. The target information is used to indicate a boundary contour of the target work area.

2. The method of claim 1, wherein, The boundary contour is non-rectangular.

3. The method of claim 2, wherein, The boundary contour is a concave polygon or a concave arc.

4. The method according to claim 2 or 3, characterized in that, At least one of the first sub-path, the second sub-path and the third sub-path encloses a shape which is substantially the same as the boundary contour.

5. The method according to any one of claims 2-4, characterized in that, At least two of the first sub-path, the second sub-path and the third sub-path enclose substantially the same shape.

6. The method of claim 2, wherein, A third spacing between a path point on the first sub-path and a nearest boundary point on the boundary contour is different from the first spacing, and / or the third spacing between the path point on the first sub-path and the nearest boundary point on the boundary contour is the same as the second spacing.

7. The method of claim 2, wherein, The at least two different work modes include that at least two of the work modes adopt different target work parameters.

8. The method of claim 1, wherein, The at least two different work modes include that:

9. The method of claim 8, wherein, in a case where the first spacing is smaller than the second spacing, the first work mode and the second work mode adopt different target work parameters; or in a case where the first spacing is larger than the second spacing, the second work mode and the third work mode adopt different target work parameters. The target work parameters include a work amplitude of a work load carried by the movable platform, and the at least two different work modes include that:

10. The method of claim 8, wherein, in a case where a first work coverage range when the movable platform uses the first sub-path to work and a second work coverage range when the movable platform uses the second sub-path to work overlap, the first work mode and the second work mode adopt different target work parameters. ​ The second operation mode and the third operation mode adopt different operation ranges on the path segments corresponding to the overlapping part. The second operation mode and the third operation mode adopt different operation ranges on the path segments corresponding to the overlapping part.

11. The method of claim 10, wherein, The first operation mode and the second operation mode adopt different operation ranges on the path segments corresponding to the overlapping part, including: In the process that the movable platform operates using the first sub-path, the operation load close to the second sub-path in the movable platform is in an active state when the movable platform operates using the path segments corresponding to the overlapping part; in the process that the movable platform operates using the second sub-path, the operation load close to the first sub-path in the movable platform is in an idle state when the movable platform operates using the path segments corresponding to the overlapping part; or In the process that the movable platform operates using the first sub-path, the operation load close to the second sub-path in the movable platform is in an idle state when the movable platform operates using the path segments corresponding to the overlapping part; in the process that the movable platform operates using the second sub-path, the operation load close to the first sub-path in the movable platform is in an active state when the movable platform operates using the path segments corresponding to the overlapping part.

12. The method of claim 10, wherein, The second operation mode and the third operation mode adopt different operation ranges on the path segments corresponding to the overlapping part, including: In the process that the movable platform operates using the second sub-path, the operation load close to the third sub-path in the movable platform is in an active state when the movable platform operates using the path segments corresponding to the overlapping part; in the process that the movable platform operates using the third sub-path, the operation load close to the second sub-path in the movable platform is in an idle state when the movable platform operates using the path segments corresponding to the overlapping part; or In the process that the movable platform operates using the second sub-path, the operation load close to the third sub-path in the movable platform is in an idle state when the movable platform operates using the path segments corresponding to the overlapping part; in the process that the movable platform operates using the third sub-path, the operation load close to the second sub-path in the movable platform is in an active state when the movable platform operates using the path segments corresponding to the overlapping part.

13. The method of claim 1, wherein, In the case that the same sub-path in the target path includes at least two path segments with overlapping operation coverage, the movable platform adopts different operation ranges when operating on the at least two path segments with overlapping operation coverage.

14. The method of claim 13, wherein, The at least two path segments with overlapped working coverage include a first path segment and a first path segment, and the working range of the movable platform is different when the movable platform works on the at least two path segments with overlapped working coverage, comprising: When the movable platform works on the first path segment, the working load near one side of the second path segment is in a working state, and when the movable platform works on the second path segment, the working load near one side of the first path segment is in an idle state; or, When the movable platform works on the first path segment, the working load near one side of the second path segment is in an idle state, and when the movable platform works on the second path segment, the working load near one side of the first path segment is in a working state.

15. The method of claim 1, wherein, Further comprising: Controlling the power device of the movable platform to make the movable platform work in the target working area based on the target path.

16. The method of claim 15, wherein, The working in the target area based on the target path comprises: Based on the target path, determining the actual moving track of the movable platform in the target working area, controlling the movable platform to move and work along the actual moving track.

17. The method of claim 16, wherein, The actual moving track and the target path adopt differentiating identification on at least part of the path segments on the interaction interface, and / or the actual moving track is determined based on smoothing processing of the target path.

18. The method of claim 16, wherein, The target path forms a turning inflection point between two path segments connected to each other in the same sub-path.

19. The method of claim 18, wherein, The target path includes a plurality of turning inflection points on the same sub-path, and the plurality of turning inflection points include a first turning inflection point and a second turning inflection point, and in the case that the included angle between the two path segments corresponding to the first turning inflection point is greater than the included angle between the two path segments corresponding to the second turning inflection point, the moving speed of the movable platform at the first turning inflection point is greater than the moving speed of the movable platform at the second turning inflection point.

20. The method of claim 18 or 19, wherein, The control of the movable platform to move and work along the actual moving track comprises: When the included angle between the two path segments corresponding to the turning inflection point is greater than or equal to a preset included angle, the actual moving track is controlled to pass through the turning inflection point; otherwise, the actual moving track is controlled not to pass through the turning inflection point.

21. The method of claim 20, wherein, The preset included angle is an obtuse angle.

22. The method of claim 20, wherein, In the case that the actual moving track passes through the turning inflection point, the actual moving track does not pass through a key path point located on any one of the two path segments and close to the turning inflection point.

23. The method of claim 20, wherein, In the case that the actual moving track does not pass through the turning inflection point, the actual moving track passes through a key path point located on any one of the two path segments and close to the turning inflection point.

24. The method of claim 22 or 23, wherein, The length of the key path point and the turning inflection point is positively correlated with the length of the path segment where the key path point is located and / or the included angle between the two path segments corresponding to the turning inflection point.

25. The method of claim 24, wherein, The length of the key path point and the turning inflection point is positively correlated with the length of the path segment where the key path point is located.

26. The method of claim 24, wherein, The key path point is negatively correlated with an included angle between a length of the turning inflection point and two path segments corresponding to the turning inflection point.

27. The method of claim 16, wherein, The actual moving track of the movable platform in the target work area is determined based on the target path, including: determining the actual moving track of the movable platform in the target work area based on the execution sequence of the plurality of sub-paths in the target path.

28. The method of claim 27, wherein, The execution sequence of the plurality of sub-paths includes: a sub-path close to the boundary of the target work area is executed earlier than a sub-path close to the inside of the target work area.

29. The method of claim 27, wherein, The actual moving track includes a transition path segment between the plurality of sub-paths executed in sequence.

30. The method of claim 29, wherein, The movable platform does not work when moving in the transition path segment, and / or the corresponding moving speed of the movable platform on the transition path segment is greater than the corresponding moving speed of the movable platform on the plurality of sub-paths.

31. The method of claim 27, wherein, The work end point of a previous sub-path in the plurality of sub-paths executed in sequence to the closest point on a next sub-path is the work start point of the next sub-path.

32. The method of claim 1, wherein, The target path further includes a fourth sub-path, and the fourth sub-path is different in shape from at least one of the first sub-path, the second sub-path, and the third sub-path.

33. The method of claim 32, wherein, The fourth sub-path includes at least two path segments discretely distributed in the target work area, and the at least two path segments are not connected to each other and do not surround each other.

34. The method of claim 33, wherein, The execution sequence between the at least two path segments is continuous or discontinuous.

35. The method of claim 33, wherein, The at least two path segments include a straight line segment-shaped path segment and / or a closed path segment.

36. The method of claim 35, wherein, The straight line segment-shaped path segment is located in a corner area of the target work area, and / or the closed path segment is located in a non-corner area of the target work area.

37. The method of any one of claims 32-36, wherein, The fourth sub-path is closer to the inside of the target work area than the third sub-path.

38. The method of any one of claims 32-37, wherein, The fourth sub-path is obtained by inwardly retracting a preset distance from a portion of a sub-path adjacent to the fourth sub-path and away from the inside of the target work area, and the preset distance is the larger one of the first distance and the second distance.

39. The method of claim 1, wherein, The first distance and / or the second distance are related to the working range of the working load carried by the movable platform.

40. The method of claim 39, wherein, One of the first distance and the second distance is the bilateral working range of the movable platform, and the other of the first distance and the second distance is the unilateral working range of the movable platform.

41. The method of claim 39, wherein, The first distance and / or the second distance are determined according to the working range of the working load carried by the movable platform, and the working range of the working load includes any one of: the spraying width of a spraying device, the spreading width of a spreading device, the operating range of an operating device, the field of view angle of a shooting device, and the cleaning range of a cleaning device.

42. The method of claim 1, wherein, The target information related to the position of the target work area is obtained, including: obtaining the position information of a plurality of boundary points of the target work area; determining the target information of the target work area according to the position information of the plurality of boundary points.

43. A path planning method for a movable platform, characterized in that: including: obtaining target information related to a position of a target work area; planning a target path of the movable platform according to the target information; wherein the target path comprises a first sub-path and a second sub-path, the first sub-path and the second sub-path are both located in the target work area, the first sub-path encloses a first sub-area, the second sub-path is located in the first sub-area, the second sub-path comprises a plurality of discrete path segments, and the plurality of discrete path segments are not connected to each other and do not surround each other. The target information is used to indicate the boundary profile of the target work area.

44. The method of claim 43, wherein, The boundary profile of the target work area is a concave polygon or a concave arc.

45. The method of claim 44, wherein, The plurality of discrete path segments include straight line segments and / or enclosed path segments.

46. The method of claim 45, wherein, The straight line segments are located in the corner area of the target work area, and / or the enclosed path segments are located in the non-corner area of the target work area.

47. The method of claim 46, wherein, The execution order between at least two path segments is continuous or discontinuous.

48. The method of any one of claims 45-47, wherein, The target path further comprises a third sub-path.

49. The method of claim 43, wherein, The retraction distance between the third sub-path and the sub-path adjacent to it and away from the inner side of the target work area is less than the retraction distance between the first sub-path and the second sub-path.

50. The method of claim 49, wherein, The retraction distance between the third sub-path and the sub-path adjacent to it and away from the inner side of the target work area is half of the retraction distance between the first sub-path and the second sub-path.

51. The method of claim 50, wherein, The retraction distance between the first sub-path and the second sub-path is related to the working range of the working load carried by the movable platform.

52. The method of claim 43, wherein, The retraction distance between the first sub-path and the second sub-path is determined according to the working range of the working load carried by the movable platform, and the working range of the working load includes any one of the following: the spraying width of a spraying device, the spreading width of a spreading device, the operating range of an operating device, the field of view angle of a shooting device, and the cleaning range of a cleaning device.

53. The method of claim 52, wherein, The target information related to the position of the target work area is obtained by:

54. The method of claim 43, wherein, obtaining position information of a plurality of boundary points of the target work area; determining the target information of the work area according to the position information of the plurality of boundary points. The shape enclosed by the first sub-path is substantially the same as the boundary profile of the target work area.

55. The method of claim 44, wherein, The shapes of the second sub-path and the first sub-path are different, and / or the shape of the second sub-path and the boundary profile are different.

56. The method of claim 44 or 55, wherein, The target path meets at least one of the following conditions:

57. The method of claim 43, wherein, In the case that there is an overlap between the corresponding work coverage ranges of the path segments of two adjacent sub-paths in the target path, the corresponding working range of the movable platform in the path segments of the two adjacent sub-paths is different. In the case that there is an overlap between the corresponding work coverage ranges of different path segments of the same sub-path in the target path, the corresponding working range of the movable platform in the different path segments is different. Further comprising:

58. The method of claim 43, wherein, ​ controlling a power device of the movable platform to make the movable platform work in the target work area based on the target path.

59. The method of claim 58, wherein, The working in the target work area based on the target path comprises: determining an actual moving track of the movable platform in the target work area based on the target path, controlling the movable platform to move along the actual moving track and work.

60. The method of claim 59, wherein, The actual moving track and the target path are at least partially differentiated on an interaction interface.

61. The method of claim 59 or 60, wherein, The actual moving track is determined based on smoothing processing of the target path.

62. The method of claim 59, wherein, The target path forms a turning inflection point between two path segments connected to each other in a same sub-path.

63. The method of claim 62, wherein, The same sub-path in the plurality of sub-paths includes a plurality of turning inflection points, the plurality of turning inflection points include a first turning inflection point and a second turning inflection point, in a case where an included angle between two path segments corresponding to the first turning inflection point is greater than an included angle between two path segments corresponding to the second turning inflection point, a moving speed of the movable platform at the first turning inflection point is greater than a moving speed of the movable platform at the second turning inflection point.

64. The method of claim 62, wherein, When the included angle between the two path segments corresponding to the turning inflection point is greater than a preset included angle, the actual moving track passes through the turning inflection point; otherwise, the actual moving track does not pass through the turning inflection point.

65. The method of claim 64, wherein, The preset included angle is an obtuse angle.

66. The method of claim 64, wherein, In the case where the actual moving track passes through the turning inflection point, the actual moving track does not pass through a key path point located on any one of the two path segments and close to the turning inflection point.

67. The method of claim 64, wherein, In the case where the actual moving track does not pass through the turning inflection point, the actual moving track passes through the key path point located on any one of the two path segments and close to the turning inflection point.

68. The method of claim 66 or 67, wherein, The length of the key path point and the turning inflection point is related to the length of the path segment where the key path point is located and / or the included angle between the two path segments corresponding to the turning inflection point.

69. The method of claim 68, wherein, The length of the path segment where the key path point is located is positively correlated with the length of the key path point and the turning inflection point, and / or the length of the key path point and the turning inflection point is negatively correlated with the included angle between the two path segments corresponding to the turning inflection point.

70. The method of claim 59, wherein, The determining the actual moving track of the movable platform in the target work area based on the target path comprises: determining the actual moving track of the movable platform in the target work area based on an execution sequence of the plurality of sub-paths in the target path.

71. The method of claim 70, wherein, The execution sequence of the plurality of sub-paths comprises: a sub-path close to a boundary of the target work area is executed earlier than a sub-path close to an inner part of the target work area.

72. The method of claim 59 or 70, wherein, The actual moving track includes a transition path segment between the plurality of sub-paths executed in sequence.

73. The method of claim 72, wherein, The movable platform does not work when moving on the transition path segment, and / or a corresponding moving speed of the movable platform on the transition path segment is greater than a corresponding moving speed of the movable platform on the plurality of sub-paths.

74. The method of claim 70, wherein, A job end point of a previous sub-path in the plurality of sub-paths executed in sequence to a point on a next sub-path with the shortest distance is a job start point of the next sub-path.

75. A method of path planning for a movable platform, the method comprising: Comprise: Obtaining target information related to the position of the target job area, wherein the target job area is non-rectangular; and According to the target information, planning a target path of the movable platform; Wherein, (a) the target path includes a first sub-path and a second sub-path, the second sub-path is located in a first sub-region enclosed by the first sub-path, and the planning mode of the second sub-path is different from that of the first sub-path; (b) the distribution of the second sub-path is related to the relative position relationship between the first virtual circle and the second virtual circle, the first virtual circle includes a circle with the first path point of the first sub-path as the center and a first preset distance as the radius, and the second virtual circle includes a circle with the second path point of the first sub-path as the center and the first preset distance as the radius, the virtual connection line between the first path point and the second path point is perpendicular to at least one of the path segments where the first path point and the second path point are located; (c) the relative position relationship includes the case that the shortest distance between the circumferences of the first virtual circle and the second virtual circle is less than four times the first preset distance; (d) the first preset distance is half of the corresponding job amplitude of the movable platform when working on the first sub-path.

76. The method of claim 75, wherein, The path segment where the first path point is located and the path segment where the second path point is located are not adjacent.

77. The method of claim 75 or 76, wherein, The first moving direction of the movable platform at the first path point and the second moving direction of the movable platform at the second path point are approximately opposite trends.

78. The method of claim 75, wherein, The relative position relationship includes a first relative position relationship, which indicates that the first virtual circle and the second virtual circle intersect or are tangent.

79. The method of claim 78, wherein, In the case of conforming to the first relative position relationship, the second sub-path does not pass through the region where the first virtual circle and the second virtual circle intersect or the point where they are tangent.

80. The method of claim 78 or 79, wherein, In the case of conforming to the first relative position relationship, the first sub-region is divided into at least two discrete distribution sub-regions by taking the region where the first virtual circle and the second virtual circle intersect or the point where they are tangent as the boundary, and at least one regional path segment is planned in at least one of the sub-regions, and the second sub-path includes the at least one regional path segment.

81. The method of claim 80, wherein, At least one of the regional path segments includes discrete distribution first and second regional path segments, and the first and second regional path segments do not connect or enclose each other.

82. The method of claim 81, wherein, The first and second regional path segments correspond to continuous or discontinuous execution sequences.

83. The method of any one of claims 80-82, wherein, At least one of the regional path segments includes a straight line segment-like path segment and / or a closed path segment.

84. The method of claim 83, wherein, The straight line segment-like path segment is located in a corner region of the target job area, and / or the closed path segment is located in a non-corner region of the target job area.

85. The method of claim 83 or 84, wherein, The shape of the closed path segment is approximately the same as the outline shape of the sub-region where it is located.

86. The method of claim 75, wherein, The relative position relationship includes a second relative position relationship, and the second relative position relationship indicates that the first virtual circle and the second virtual circle do not overlap, and a shortest distance between circumferences of the first virtual circle and the second virtual circle is greater than zero.

87. The method of claim 86, wherein, The second relative position relationship further indicates that the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than the first preset distance and less than or equal to twice the first preset distance.

88. The method of claim 87, wherein, In a case where the second relative position relationship is met, the second sub-path satisfies any one of the following conditions: Condition one, a retracted distance between the second sub-path and the first sub-path is less than twice the first preset distance and greater than or equal to the first preset distance; Condition two, the second sub-path includes a linear-segment-shaped path formed between the first virtual circle and the second virtual circle.

89. The method of claim 88, wherein, In condition one, the retracted distance between the second sub-path and the first sub-path is equal to the first preset distance.

90. The method of claim 88, wherein, The second sub-path satisfies the priority of condition one and condition two in at least one of the following cases: If the first path point and the second path point are located in a corner region of the target work region, the priority of condition two is greater than that of condition one; If the first path point and the second path point are located in a non-corner region of the target work region, the priority of condition one is greater than that of condition two.

91. The method of any one of claims 88-90, wherein, In condition one, the second sub-path and the first sub-path have different work ranges corresponding to path segments between the first virtual circle and the second virtual circle.

92. The method of claim 86, wherein, The second relative position relationship further indicates that the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than twice the first preset distance and less than four times the first preset distance.

93. The method of claim 92, wherein, In a case where the second relative position relationship is met, the second sub-path and the first sub-path have different work ranges corresponding to path segments between the first virtual circle and the second virtual circle.

94. The method of claim 86, wherein, The relative position relationship further includes a case where the shortest distance between the circumferences of the first virtual circle and the second virtual circle is greater than or equal to four times the first preset distance.

95. The method of claim 94, wherein, The second sub-path and the first sub-path have the same work range corresponding to path segments between the first virtual circle and the second virtual circle.

96. The method of claim 92 or 94, wherein, A retracted distance between the second sub-path and the first sub-path is twice the first preset distance.

97. The method of claim 92 or 94, wherein, The second sub-path and the first sub-path have substantially the same shape.

98. The method of claim 92 or 94, wherein, The second sub-path and a boundary contour of the target work region are substantially the same.

99. The method of claim 75, wherein, The first preset distance is half of a work range of a work load carried by the movable platform.

100. The method of any one of claims 75-99, wherein, The first preset distance is determined according to a work range of a work load carried by the movable platform, and the work range of the work load includes any one of the following: a spraying width of a spraying device, a sowing width of a sowing device, a work range of a throwing device, a field of view angle of a shooting device, and a cleaning range of a cleaning device.

101. A method of path planning for a movable platform, the method comprising: The method comprises: obtaining target information related to a position of a target work area, wherein a boundary of the target work area includes an inner recessed portion recessed towards an inside; and planning a target path of the movable platform according to the target information; wherein the target path includes a first sub-path and a second sub-path, the first sub-path encloses a first sub-region, the second sub-path is located within the first sub-region, the target path conforms to any one of a mode one and a mode two, and when the first sub-path is closer to the inside of the target work area, the priority of the mode one is higher than that of the mode two, and / or when the first sub-path is farther away from the inside of the target work area, the priority of the mode two is higher than that of the mode one: the mode one, the second sub-path includes a plurality of discretely distributed path segments, the plurality of discretely distributed path segments are neither connected to each other nor surrounded by each other; the mode two, a first spacing between a path point on the first sub-path and a nearest path point on the second sub-path is different from a second spacing between a path point on the second sub-path and a nearest path point on a third sub-path, wherein the first sub-path, the second sub-path and the third sub-path are sequentially adjacent.

102. A method of path planning for a movable platform, the method comprising: comprising: obtaining target information related to a position of a target work area, wherein a boundary of the target work area includes an inner recessed portion recessed towards an inside; and planning a target path of the movable platform according to the target information; wherein (a) the target path includes a first sub-path, a second sub-path and a third sub-path which are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are all located within the target work area and each encloses a first sub-region, a second sub-region and a third sub-region respectively, the second sub-region is located within the first sub-region, and the third sub-region is located within the second sub-region; (b) a first spacing between the first sub-path and the second sub-path is not equal to a second spacing between the second sub-path and the third sub-path; (c) a first work range corresponding to a use of the first sub-path by the movable platform and / or a second work range corresponding to a use of the second sub-path by the movable platform is related to the first spacing, and a second work range corresponding to a use of the second sub-path by the movable platform and / or a third work range corresponding to a use of the third sub-path by the movable platform is related to the second spacing, at least two of the first work range, the second work range and the third work range are different. comprising:

103. A method of path planning for a movable platform, the method comprising: obtaining target information related to a position of a target work area, wherein an outer boundary of the target work area includes an inner recessed portion recessed towards an inside; and planning a target path of the movable platform according to the target information; wherein (a) the target path includes a first sub-path and a second sub-path, the first sub-path and the second sub-path are both located within the target work area, the first sub-path encloses a first sub-region, and the second sub-path is located within the first sub-region; ​ ​ (b) the second sub-path comprises at least two closed path segments which are not connected to each other; (c) the intervals between the first sub-path and the second sub-path are uniformly arranged, and the intervals between the first sub-path and the second sub-path are related to the working range of the movable platform.

104. A method of path planning for a movable platform, the method comprising: Comprising: obtaining target information related to the position of the target working area, wherein the boundary of the target working area comprises an inner recess which is recessed towards the inside; planning a target path of the movable platform according to the target information; wherein the target path comprises a first sub-path and a second sub-path, the second sub-path is located in a first sub-area enclosed by the first sub-path, and the intervals between the first sub-path and the second sub-path are uniformly arranged; the shape of the second sub-path is determined based on the positional relationship between a virtual circle on the first sub-path at one side and a virtual circle on the first sub-path at the other side, wherein when the virtual circle on the first sub-path at one side intersects or is tangent to the virtual circle on the first sub-path at the other side, the shape of the second sub-path is different from the shape of the first sub-path; the virtual circle takes the path point of the first sub-path as the center and the working range of the movable platform as the diameter.

105. A method of controlling a movable platform, the method comprising: Comprising: obtaining a target path of the movable platform; obtaining current positioning information of the movable platform; and controlling the power device of the movable platform based on the target path and the current positioning information, so that the movable platform moves based on the target path; wherein the target path comprises a first sub-path, a second sub-path and a third sub-path which are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are located in the target working area and respectively enclose a first sub-area, a second sub-area and a third sub-area, the second sub-area is located in the first sub-area, and the third sub-area is located in the second sub-area; the first interval between the path point on the first sub-path and the nearest path point on the second sub-path is different from the second interval between the path point on the second sub-path and the nearest path point on the third sub-path; the first working mode corresponding to the use of the first sub-path and / or the second working mode corresponding to the use of the second sub-path of the movable platform are related to the first interval, and the second working mode corresponding to the use of the second sub-path and / or the third working mode corresponding to the use of the third sub-path of the movable platform are related to the second interval, and at least two of the first working mode, the second working mode and the third working mode are different.

106. A method of controlling a movable platform, the method comprising: Comprising: obtaining a target path of the movable platform; obtaining current positioning information of the movable platform; and controlling the power device of the movable platform based on the target path and the current positioning information, so that the movable platform moves based on the target path; The target path includes a first sub-path and a second sub-path, the first sub-path and the second sub-path are located in the target work area, the first sub-path encloses a first sub-area, the second sub-path is located in the first sub-area, the second sub-path includes a plurality of discrete path segments, and the plurality of discrete path segments are not connected to each other and do not surround each other.

107. A method of controlling a movable platform, the method comprising: Comprise: obtaining a target path of the movable platform; obtaining current positioning information of the movable platform; and based on the target path and the current positioning information, control the power device of the movable platform to move the movable platform based on the target path; The target path includes a first sub-path and a second sub-path, the second sub-path is located in the first sub-area enclosed by the first sub-path, and the second sub-path is planned in a manner different from that of the first sub-path. The distribution of the second sub-path is related to the relative position relationship between the first virtual circle and the second virtual circle, the first virtual circle includes a circle with the first path point of the first sub-path as the center and a first preset distance as the radius, and the second virtual circle includes a circle with the second path point of the first sub-path as the center and the first preset distance as the radius, and a virtual line between the first path point and the second path point is perpendicular to at least one of the path segments where the first path point and the second path point are located. The relative position relationship includes a case where the shortest distance between the circumferences of the first virtual circle and the second virtual circle is less than four times the first preset distance, and the first preset distance is half of the working range corresponding to the first sub-path when the movable platform works on the first sub-path.

108. A method of controlling a movable platform, the method comprising: Comprise: obtaining a target path of the movable platform; obtaining current positioning information of the movable platform; and based on the target path and the current positioning information, control the power device of the movable platform to move the movable platform based on the target path; The target path includes a first sub-path and a second sub-path, the first sub-path encloses a first sub-area, the second sub-path is located in the first sub-area, the target path conforms to any one of mode one and mode two, and the closer the first sub-path is to the interior of the target work area, the higher the priority of mode one compared to mode two, and / or the farther the first sub-path is from the interior of the target work area, the higher the priority of mode two compared to mode one: Mode one, the second sub-path includes a plurality of discrete path segments, and the plurality of discrete path segments are not connected to each other and do not surround each other; Mode two, the first distance between the path points on the first sub-path to the nearest path points on the second sub-path is different from the second distance between the path points on the second sub-path to the nearest path points on the third sub-path, wherein the first sub-path, the second sub-path and the third sub-path are adjacent in turn.

109. A method of controlling a movable platform, the method comprising: Comprise: obtaining a target path of the movable platform; obtaining current positioning information of the movable platform; and controlling a power device of the movable platform based on the target path and the current positioning information, so that the movable platform moves based on the target path; wherein (a) the target path comprises a first sub-path, a second sub-path and a third sub-path which are sequentially adjacent, the first sub-path, the second sub-path and the third sub-path are all located in the target work area and each respectively enclose a first sub-region, a second sub-region and a third sub-region, the second sub-region is located in the first sub-region, and the third sub-region is located in the second sub-region; (b) the first interval between the first sub-path and the second sub-path is not equal to the second interval between the second sub-path and the third sub-path; (c) the first work range corresponding to the use of the first sub-path by the movable platform and / or the second work range corresponding to the use of the second sub-path by the movable platform is related to the first interval, and the second work range corresponding to the use of the second sub-path by the movable platform and / or the third work range corresponding to the use of the third sub-path by the movable platform is related to the second interval, and at least two of the first work range, the second work range and the third work range are different.

110. A method of controlling a movable platform, the method comprising: comprising: obtaining a target path of the movable platform; obtaining current positioning information of the movable platform; and controlling a power device of the movable platform based on the target path and the current positioning information, so that the movable platform moves based on the target path; wherein (a) the target path comprises a first sub-path and a second sub-path, the first sub-path and the second sub-path are both located in the target work area, and the first sub-path encloses a first sub-region, and the second sub-path is located in the first sub-region; (b) the second sub-path comprises at least two enclosed path segments that are not connected to each other; (c) the interval between the first sub-path and the second sub-path is uniformly arranged, and the interval between the first sub-path and the second sub-path is related to the work range of the movable platform.

111. A control method of a movable platform, comprising: obtaining a target path of the movable platform; obtaining current positioning information of the movable platform; and controlling a power device of the movable platform based on the target path and the current positioning information, so that the movable platform moves based on the target path; wherein the target path comprises a first sub-path and a second sub-path, the second sub-path is located in a first sub-region enclosed by the first sub-path, and the interval between the first sub-path and the second sub-path is uniformly arranged. a shape of the second sub-path is determined based on a positional relationship between a virtual circle on the first sub-path at one side and a virtual circle on the first sub-path at another opposite side, wherein when the virtual circle on the first sub-path at the one side and the virtual circle on the first sub-path at the another opposite side intersect or are tangent, then the shape of the second sub-path is different from the shape of the first sub-path; the virtual circle has a path point of the first sub-path as a center and a working range of the movable platform as a diameter.

111. The method of any one of claims 105-110, wherein, the moving based on the target path comprises: the different sub-paths in the target path are executed in turn based on an embedding order from outside to inside.

112. An apparatus comprising: comprise: at least one processor; and at least one memory including computer program code, wherein the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus at least to execute the computer program and, when executing the computer program, implement the path planning method of any one of claims 1-104 or the control method of any one of claims 105-110.

113. A movable platform characterized by, comprise: a platform body for carrying a working load; a power device provided on the platform body for providing moving power for the movable platform; a control device provided on the platform body for implementing the path planning method of any one of claims 1-104 or the control method of any one of claims 105-110.

114. The moveable platform of claim 113, wherein, The movable platform comprises at least one of the following: an aircraft, a vehicle, a ship, and a mobile robot.

115. A storage medium for computer-readable use, characterized in that The storage medium stores a computer program, and the computer program is executed by the processor to cause the processor to implement the path planning method of any one of claims 1-104 or the control method of any one of claims 105-110.

116. A system characterized by The control terminal is used for controlling the movable platform.

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