Operational safety region generation method and apparatus, and device and storage medium

Abstract

An operational safety region generation method, comprising: generating an initial safety region on the basis of an operational plot and takeoff / landing position information of an unmanned device (S110); determining an editable boundary line of the initial safety region (10) (S120); receiving an editing operation for the editable boundary line, and adjusting the editable boundary line on the basis of the editing operation (S130); and generating a target safety region on the basis of the adjusted editable boundary line (S140). By means of the method, an editable boundary line can be determined in a preliminarily planned safety region, and a user edits the editable boundary line such that the adjusted safety region does not contain obstacles and retains part of the region in which an unmanned device can fly, thereby ensuring that a safe and efficient flight route is directly planned within the adjusted safety region, and meeting the efficient-operation requirements of the unmanned device.

Description

Methods, devices, equipment and storage media for generating safe work areas

[0001] This application claims priority to Chinese Patent Application No. 202411584034.X, filed on November 7, 2024, entitled “Method, Apparatus, Equipment and Storage Medium for Generating a Work Safety Area”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of unmanned equipment technology, and in particular to a method, apparatus, device and storage medium for generating a safe working area. Background Technology

[0003] With the rapid development of unmanned equipment technology, it is widely used in various fields. When operating unmanned equipment, users can select the work site through remote control. The unmanned equipment then plans its work route based on the work site and performs operations accordingly. During operation, the unmanned equipment inevitably needs to move from the take-off / landing point to the work site and back, as well as from one work site to another. To ensure the safety of the unmanned equipment traveling between the take-off / landing point and the work site, and to ensure safe transitions between multiple work sites, users can select either a safety point mode or a safety zone mode to allow the unmanned equipment to smoothly avoid obstacles between the take-off / landing point and the work site, or between multiple work sites.

[0004] In existing technologies, when a user selects the safe zone mode, unmanned or remotely controlled equipment can generate a safe zone based on the take-off and landing point and the work site. The generated safe zone is relatively large and may contain obstacles. Therefore, even in safe zone mode, the user still needs to pre-map all obstacles within the safe zone to ensure the safety of flight planning within the safe zone. Consequently, planning round-trip or transfer flight routes based on existing safe zones still relies on obstacle mapping information, making flight route planning complex and inefficient. Furthermore, the safe zones generated by existing technologies may exclude areas where unmanned equipment could otherwise fly, preventing the planning of efficient flight routes and failing to meet the needs of efficient unmanned equipment operations within safe zones. In addition, in existing technologies, unreasonable flight route planning during unmanned equipment operation may lead to increased energy consumption and carbon emissions, which is detrimental to environmental protection. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for generating a safe operating area. It defines editable boundary lines within a pre-planned safe area, allowing the user to edit these lines to ensure the adjusted safe area is free of obstacles while retaining a portion of the unmanned equipment's flight path. This ensures that the adjusted safe area can be used to plan efficient and safe flight routes, meeting the needs of unmanned equipment for efficient operations. Simultaneously, by optimizing flight routes, it reduces the energy consumption of unmanned equipment, lowers carbon emissions, and achieves green technology and environmental protection effects.

[0006] Firstly, this application provides a method for generating a safe working area, including:

[0007] An initial safe zone is generated based on the work site and the take-off and landing location information of the unmanned equipment.

[0008] Determine the editable boundary lines of the initial safe area;

[0009] Receive editing operations on the editable boundary line, and adjust the editable boundary line according to the editing operations;

[0010] Generate the target safe zone based on the adjusted editable boundary lines.

[0011] Secondly, this application provides a work safety area generation device, comprising:

[0012] The initial area generation module is configured to generate an initial safe area based on the work site and the take-off and landing location information of the unmanned equipment;

[0013] An editable boundary determination module is configured to determine the editable boundary lines of the initial safe area;

[0014] An editable boundary adjustment module is configured to receive editing operations on the editable boundary line and adjust the editable boundary line according to the editing operations;

[0015] The target region generation module is configured to generate target safe regions based on the adjusted editable boundary lines.

[0016] Thirdly, this application provides a work safety area generation device, comprising:

[0017] One or more processors; a memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the job safety zone generation method as described in the first aspect.

[0018] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the job safety area generation method as described in the first aspect.

[0019] In this application, an initial safety zone is generated using the work site and the take-off and landing positions of the unmanned equipment (UAV). The initial safety zone includes the work site, the take-off and landing positions, and the area between the work site and the take-off and landing positions. The initial safety zone may contain obstacles and may not include recessed areas of the work site that the UAV can traverse. Therefore, an editable boundary line can be determined for the initial safety zone, allowing the user to adjust its location. Based on user-inputted editing operations, the corresponding editable boundary line is adjusted. A target safety zone is generated based on the adjusted boundary line, excluding obstacles but including recessed areas of the work site that the UAV can traverse. Subsequently, safe and efficient round-trip or transfer flight routes can be directly planned based on the target safety zone, meeting the needs of efficient UAV operations. Furthermore, safe and efficient flight routes can be planned without pre-mapping obstacles, simplifying the planning process and improving efficiency. Simultaneously, by optimizing flight routes, energy consumption and carbon emissions of the UAV are reduced, achieving green technology and environmental protection. Attached Figure Description

[0020] Figure 1 is a flowchart of a method for generating a safe working area according to an embodiment of this application;

[0021] Figure 2 is one of the schematic diagrams of the initial security area provided in the embodiments of this application;

[0022] Figure 3 is a flowchart of generating an initial security region provided in an embodiment of this application;

[0023] Figure 4 is one of the schematic diagrams of the polygonal convex hull region provided in the embodiments of this application;

[0024] Figure 5 is a second schematic diagram of the polygonal convex hull region provided in an embodiment of this application;

[0025] Figure 6 is a second schematic diagram of the initial security area provided in an embodiment of this application;

[0026] Figure 7 is a third schematic diagram of the initial security area provided in the embodiments of this application;

[0027] Figure 8 is a flowchart of adjusting editable boundary lines provided in an embodiment of this application;

[0028] Figure 9 is a schematic diagram of one of the editing interfaces provided in the embodiments of this application;

[0029] Figure 10 is a second schematic diagram of the editing interface provided in the embodiments of this application;

[0030] Figure 11 is a third schematic diagram of the editing interface provided in the embodiments of this application;

[0031] Figure 12 is a fourth schematic diagram of the editing interface provided in the embodiments of this application;

[0032] Figure 13 is a fifth schematic diagram of the editing interface provided in the embodiments of this application;

[0033] Figure 14 is a sixth schematic diagram of the editing interface provided in the embodiments of this application;

[0034] Figure 15 is a structural schematic diagram of a work safety zone generation device provided in an embodiment of this application;

[0035] Figure 16 is a schematic diagram of the structure of an unmanned device provided in an embodiment of this application. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0037] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0038] In the relevant implementation methods, users can choose to plan the round-trip route between the take-off / landing point and the work site based on either a safety point mode or a safety zone mode for unmanned or remotely controlled equipment. When planning the round-trip route based on the safety point mode, the path points of the work route between the take-off / landing point and the work site are connected based on pre-set safety points, ensuring the round-trip route passes through these pre-set safety points. However, the round-trip route planned based on safety points is not the optimal route between the take-off / landing point and the work site; its length is relatively long, affecting the round-trip efficiency of the unmanned equipment. When planning the round-trip route based on the safety zone mode, the minimum convex hull is generated based on the take-off / landing point and the work site as the safety zone. The safety zone covers the take-off / landing point, the work site, and the areas between the take-off / landing point and the work site, as well as between different work sites. Its coverage area is relatively large and inevitably includes some obstacles. Therefore, in the safety zone mode, the user needs to pre-map all obstacles within the safety zone and mark their locations within the safety zone. The user then plans the round-trip flight route from the take-off / landing point to the work site and the flight route for transferring between multiple work sites based on the safety zone with marked obstacle locations. Pre-mapping obstacles increases the complexity of flight path planning, resulting in lower planning efficiency. Furthermore, the safety zones generated in this way may exclude areas where unmanned equipment could otherwise fly, preventing the planning of efficient flight paths within these zones and thus failing to meet the need for efficient operation of unmanned equipment within safe areas.

[0039] To address the problems of the aforementioned implementation methods, this embodiment provides a method for generating a safe operating area. An editable boundary line is determined within a pre-planned safe area. The user edits this boundary line to ensure the adjusted safe area is free of obstacles while retaining a portion of the unmanned equipment's flight path. This ensures that the adjusted safe area can be used to plan efficient and safe round-trip or relocation flight routes, meeting the needs of efficient unmanned equipment operations. Furthermore, it eliminates the need for pre-surveying obstacles to plan safe and efficient flight routes, simplifying the planning process and thus improving planning efficiency.

[0040] The method for generating a safe work area provided in this embodiment can be executed by a safe work area generating device. This device can be implemented through software and / or hardware, and can consist of two or more physical entities, or a single physical entity. For example, the safe work area generating device can be an unmanned device or a remote control device for operating an unmanned device, or it can be the processor of the unmanned device or the remote control device. Here, unmanned device refers to a device capable of performing tasks without direct human operation or intervention; unmanned device can be a drone, unmanned vehicle, or unmanned boat, etc. This embodiment uses a drone as an example of an unmanned device. Alternatively, the safe work area generating method can be implemented by the cooperation of an unmanned device and a remote control device.

[0041] The job safety area generation device is equipped with at least one type of operating system. Based on this operating system, the device can install at least one application. This application can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the job safety area generation device has at least one application capable of executing the job safety area generation method.

[0042] For ease of understanding, this embodiment uses a remote-controlled device as the main body of the method for generating a safe area for performing operations as an example for description.

[0043] Figure 1 shows a flowchart of a method for generating a safe working area according to an embodiment of this application. Referring to Figure 1, the method for generating a safe working area specifically includes:

[0044] S110. Generate an initial safe zone based on the work site and the take-off and landing location information of the unmanned equipment.

[0045] The initial safety zone is a combination of the work area, the take-off and landing point, and the area between the work area and the take-off and landing point. Take-off and landing location information refers to the location information of the UAV's take-off and landing. This information includes the take-off and landing point and / or the take-off and landing area. The take-off and landing point is a location point, and the take-off and landing area is a location area. The take-off and landing point and the take-off and landing area can be set by the user on the remote control device. The take-off and landing area can be determined by the take-off and landing point, or the take-off and landing point can be determined based on the take-off and landing area.

[0046] The take-off and landing points can be the same point, or they can be two separate points for take-off and landing.

[0047] For example, two connecting vertices can be identified among the vertices of the work area to connect the take-off and landing points. The lines connecting each location point in the work area to the take-off and landing points will not cross the lines connecting the connecting vertices to the take-off and landing points. The lines connecting the two connecting vertices to the take-off and landing points are used as the boundary lines of the initial safe zone. The boundary line between the two connecting vertices on the work area, away from the take-off and landing points, is also used as the boundary line of the initial safe zone. The enclosed area formed by connecting these two boundary lines is the initial safe zone, which includes the work area, the take-off and landing points, and the area between the work area and the take-off and landing points. When the work task involves more than two work areas, the initial safe zone may also include the area between the work areas.

[0048] For example, Figure 2 is a schematic diagram of the initial safe area provided in an embodiment of this application. As shown in Figure 2, the work plot 12 is formed by connecting vertices A, B, C, D, E, F, G, H, I, J, K, and L in sequence. The take-off and landing points 11 are connected to each vertex of the work plot 12 in sequence. The vertices corresponding to the lines connecting the outermost two sides are determined as connecting vertices, that is, vertices A and D are determined as connecting vertices. The line 14 connecting vertex A and take-off and landing points 11 is determined as the boundary line of the initial safe area, and the line 13 connecting vertex D and take-off and landing points 11 is determined as the boundary line of the initial safe area. The boundary line formed by connecting vertices D, E, F, G, H, I, J, K, L, and A in sequence is determined as the boundary line of the initial safe area. The area enclosed by the connection of the three boundary lines is the initial safe area 10. That is, the enclosed area formed by connecting vertex A, landing point 11, vertex D, vertex E, vertex F, vertex G, vertex H, vertex I, vertex J, vertex K, vertex L and vertex A in sequence is used as the initial safe area 10.

[0049] Optionally, a convex hull region can be generated using the work site and take-off / landing point, and the concave areas within the convex hull region can be removed to form an initial safety zone. Here, the concave areas are regions formed by the concavity of the site boundary and are not part of the area encompassed by the work site. For example, Figure 3 is a flowchart of generating an initial safety zone according to an embodiment of this application. As shown in Figure 3, the steps for generating the initial safety zone specifically include S1101-S1102:

[0050] S1101. Generate a polygonal convex hull region based on the work site and the take-off and landing position information of the unmanned equipment.

[0051] For example, based on the take-off and landing points of the unmanned equipment, multiple outermost vertices are determined among the vertices of the work area. These outermost vertices are then connected to form a polygonal convex hull region. Each boundary line of the polygonal convex hull region bulges outwards; that is, there are no areas with concave boundaries within the polygonal convex hull region. The polygonal region contains straight lines connecting the take-off and landing points to any point within the work area. This allows for the planning of a straight-line round-trip route between the UAV and the work area within the polygonal convex hull region, improving the UAV's flight efficiency.

[0052] Optionally, the take-off and landing point is a coordinate point. If the drone is required to take off and land at this coordinate point every time, the control precision required for the drone is high, which will also affect the take-off and landing efficiency. Since the take-off and landing point is generally chosen in a relatively flat area, a take-off and landing area can be generated based on the take-off and landing point and the surrounding area, so that the drone can take off and land within the designated area, improving take-off and landing efficiency. Then, a polygonal convex hull region is generated based on the take-off and landing area and the work area. For example, the steps for generating the polygonal convex hull region specifically include S11011-S11013:

[0053] S11011. Generate take-off and landing areas based on the take-off and landing points of unmanned equipment.

[0054] For example, a circular area with the take-off and landing point as the center and an outer radius of a preset distance is used as the take-off and landing area. The preset distance can be set according to actual needs, such as 3m or 5m.

[0055] S11012. Determine multiple peripheral vertices based on the take-off and landing area and the work site.

[0056] For example, multiple first peripheral vertices are determined among the vertices of the work area based on the take-off and landing area. Two lines tangent to the take-off and landing area are determined based on the two first peripheral vertices used to connect the take-off and landing area. The two tangent points corresponding to the two lines are taken as the two second peripheral vertices of the take-off and landing area.

[0057] S11013. Connect multiple peripheral vertices to generate a polygonal convex hull region.

[0058] For example, the boundary line of the take-off and landing area far from the work site between the two second outer vertices is taken as the boundary line of the polygonal convex hull region, the line formed by connecting multiple first outer vertices in sequence is taken as the boundary line of the polygonal convex hull region, the two lines that are externally tangent to the take-off and landing area of ​​the two first outer vertices are taken as the boundary line of the polygonal convex hull region, and the enclosed area formed by the boundary lines of the polygonal convex hull region is taken as the polygonal convex hull region.

[0059] For example, Figure 4 is a schematic diagram of a polygonal convex hull region provided in an embodiment of this application. As shown in Figure 4, a circular region extending outward from the take-off and landing point 11 by a predetermined distance is designated as the take-off and landing region 16. Based on the take-off and landing region 16, the first outermost vertices of the work site relative to the take-off and landing region 16 include vertices A, D, K, J, E, and D. The take-off and landing point 11 is sequentially connected to vertices A, K, J, E, and D. The first outermost vertices corresponding to the lines connecting the outermost two sides are determined as the first outermost vertices used to connect the take-off and landing region 16, that is, vertices A and D are determined as the first outermost vertices used to connect the take-off and landing region 16. Then, the external tangent point N corresponding to the line connecting vertex A to the take-off and landing region 16 is designated as the second outermost vertex of the take-off and landing region 16, and the external tangent point M corresponding to the line connecting vertex D to the take-off and landing region 16 is designated as the second outermost vertex of the take-off and landing region 16. The region enclosed by the boundary line of the take-off and landing area far from the work site between the external tangent point N and the external tangent point M, the line connecting the external tangent point M and vertex D, the line connecting vertices A, K, J, E and D, and the line connecting vertex A and the external tangent point N is defined as the polygonal convex hull region 15.

[0060] This embodiment determines the take-off and landing area by using take-off and landing points, enabling the UAV to take off and land within this area, thus improving the UAV's take-off and landing efficiency. A polygonal convex hull region containing the take-off and landing area and the work area, without any boundary depressions, is generated by using the outer vertices of the take-off and landing area and the work area.

[0061] S1102. Determine the target concave region within the polygonal convex hull region, and remove the target concave region within the polygonal convex hull region to obtain the initial safe region. The target concave region is a concave region around the work site that meets the first preset condition. The first preset condition is that the boundary line of the concave region coincides with the boundary line of the polygonal convex hull region.

[0062] For example, if there are recessed areas at the boundary of the work site, the polygonal convex hull region includes these recessed areas. Since some of these recessed areas are areas the drone will not pass through, the polygonal convex hull region contains some redundant recessed areas. These redundant recessed areas can be removed from the polygonal convex hull region, and the remaining area is used as the initial safe zone. When the boundary line of a recessed area coincides with the boundary line of the polygonal convex hull region, it indicates that the recessed area is located at the boundary of the polygonal convex hull region. Generally, drones are unlikely to fly to recessed areas located at the boundary of the polygonal convex hull region. Therefore, if the boundary line of a recessed area coincides with the boundary line of the polygonal convex hull region, this recessed area can be used as the target recessed area. Removing the target recessed area from the polygonal convex hull region yields an initial safe zone that does not include areas the drone will not pass through.

[0063] Optionally, the steps for determining the target concave region within the polygonal convex hull region include S11021-S11023:

[0064] S11021. Determine the depression area formed by the depression of the plot boundary based on the outline shape of the work plot.

[0065] For example, the outer vertices of the work site are determined based on the outline shape of the work site, and these outer vertices can form a region surrounding the work site. If there is at least one vertex between two adjacent outer vertices, then connecting the two adjacent outer vertices with the corresponding vertex forms a recessed region formed by the boundary concavity of the work site. For example, Figure 5 is a schematic diagram of a polygonal convex hull region provided in an embodiment of this application. As shown in Figure 5, the outer vertices of the work site 12 are determined to be vertices A, K, J, E, D, and B based on the outline shape of the work site 12. Vertices A, K, J, E, D, and B are connected sequentially to form a region surrounding the work site. If there is a vertex L between vertices A and K, then the triangular region formed by vertices A, K, and L is used as the first recessed region 18 formed by the boundary concavity of the work site. If vertices J and E are connected by vertices I, H, G, and F, then the polygonal region formed by connecting vertices J, E, I, H, G, and F in sequence is designated as the second concave region 19 of the land boundary depression. If vertices D and B are connected by vertex C, then the triangular region formed by vertices D, B, and C is designated as the third concave region 20 of the land boundary depression.

[0066] S11022. Determine whether the concave area meets the first preset condition.

[0067] For example, the boundary line of the concave region can be compared with the boundary line of the polygonal convex hull region. If any boundary line of the concave region coincides with any boundary line of the polygonal convex hull region, the concave region is determined to meet the first preset condition; if all boundary lines of the concave region do not coincide with all boundary lines of the polygonal convex hull region, the concave region is determined not to meet the first preset condition.

[0068] Optionally, the concave areas of the work area within the polygonal convex hull region can be removed, and the shape of the polygonal convex hull region after removing the concave areas can be used to determine whether the removed concave areas are the target concave areas at the boundary. For example, if the remaining area of ​​the polygonal convex hull region after subtracting the concave areas has no empty areas, then the concave areas are determined to meet the first preset condition; if the remaining area of ​​the polygonal convex hull region after subtracting the concave areas has empty areas, then the concave areas are determined not to meet the first preset condition.

[0069] For example, the recessed area is a portion of the polygonal convex hull region. If removing the recessed area from the polygonal convex hull region results in a region containing holes, it indicates that the removed recessed area is not located at the boundary of the polygonal convex hull region. Therefore, it is determined that the UAV is highly likely to pass through the recessed area when traveling between the work site and the take-off and landing area, and thus the recessed area is not considered a target recessed area, thus remaining within the polygonal convex hull region. If removing the recessed area from the polygonal convex hull region results in a region without holes, it indicates that the removed recessed area is located at the boundary of the polygonal convex hull region. Therefore, it is determined that the UAV is unlikely to pass through the recessed area when traveling between the work site and the take-off and landing area, and thus the recessed area is considered a target recessed area, thus being removed from the polygonal convex hull region. Figure 6 is a second schematic diagram of the initial safety area provided in an embodiment of this application. Referring to Figures 5 and 6, after removing the first recessed region 18 or the second recessed region 19, the polygonal convex hull region 15 forms a region without voids, thus determining the first recessed region 18 and the second recessed region 19 as target recessed regions. After removing the third recessed region 20, the polygonal convex hull region 15 forms a region with voids, thus determining the third recessed region 20 as not a target recessed region. Subsequently, the first recessed region 18 and the second recessed region 19 are removed from the polygonal convex hull region 15 to obtain the initial safe region 21 shown in Figure 6.

[0070] This embodiment quickly determines the target concave region located at the boundary based on the shape of the polygonal convex hull region after removing the concave region, which improves the efficiency of determining the target concave region and thus improves the efficiency of generating the initial safe region.

[0071] S11023. If the depression area meets the first preset condition, the depression area is determined as the target depression area.

[0072] For example, when the recessed area meets the first preset condition, it is determined that the recessed area is located at the boundary of the polygonal convex hull region, and thus the recessed area is determined as the target recessed area. This embodiment quickly determines the recessed area formed by the boundary of the work plot by the outline shape of the work plot, and then determines the target recessed area located at the boundary of the polygonal convex hull region by the first preset condition, which improves the efficiency of determining the target recessed area, thereby improving the efficiency of generating the initial safe area.

[0073] It should be noted that the editable boundary line of the initial safe area needs to be determined with the help of the target recessed area. In this embodiment, the initial safe area is determined in advance based on the target recessed area, so that the target recessed area does not need to be determined again in the future, which helps to improve the efficiency of determining the editable boundary line.

[0074] S120. Determine the editable boundary lines of the initial safe zone.

[0075] For example, all boundary lines of the initial safe region can be defined as editable boundary lines, allowing the user to re-edit any of the boundary lines of the initial safe region.

[0076] It should be noted that the initial safe zone does not include the target recessed areas. These target recessed areas may or may not be traversed by the drone during its straight-line round trip between the work site and the take-off and landing point. For example, referring to Figure 5, when the drone flies straight from take-off and landing area 16 to vertex J of the work site, it will pass through the second recessed area 19. However, when the drone flies straight from take-off and landing area 16 to vertex K of the work site, it will not pass through the first recessed area 18. Since the initial safe zone does not include the second recessed area 19, it is impossible to plan a straight-line round trip from vertex J to the take-off and landing area when planning the round-trip route between vertex J of the work site and the take-off and landing area based on the initial safe zone. In reality, the second recessed area may not have any obstacles. Therefore, the round-trip route planned based on this initial safe zone is not the optimal route, affecting the drone's round-trip efficiency. In this case, the user can edit the boundary line of the initial safe zone corresponding to the second recessed area to determine whether to adjust the initial safe zone to include the second recessed area. Furthermore, the initial safe zone does not include the first recessed area 18, and the UAV will not pass through the first recessed area 18 when flying in a straight line from the take-off and landing area to vertex K. This means that an optimal round-trip route to vertex K can be planned based on this initial safe zone, eliminating the need for the user to edit the boundary line of the initial safe zone corresponding to the first recessed area. To address this, this embodiment proposes that the editable boundary line of the initial safe zone can be determined based on the boundary line of the target recessed area. This allows the user to edit the boundary lines corresponding to the target recessed areas that the UAV can pass through when traveling between the work area and the take-off and landing point, making the safe zone boundary editing function more intelligent and flexible.

[0077] Optionally, when determining the editable boundary line of the initial safe area based on the boundary line of the target recessed area, the target boundary line corresponding to the target recessed area and contained within the initial safe area can be determined first, thereby determining the editable boundary line within the target boundary line. Specific implementation steps include S1201-S1202:

[0078] S1201. Determine the target boundary line in the initial safe area; wherein, the target boundary line is the inward boundary line in the initial safe area; or, the target boundary line is the boundary line in the initial safe area that coincides with the boundary line of the target recessed area; or, the target boundary line is the boundary line in the target recessed area that does not coincide with the boundary line of the polygonal convex hull area.

[0079] The contraction boundary line can be understood as the boundary line of the plot depression formed by the polygonal convex hull region after the target depression region is removed. Therefore, the contraction boundary line can be regarded as the boundary line of the initial safe area that coincides with the boundary line of the target depression region, or it can be regarded as the boundary line of the target depression region that does not coincide with the boundary line of the polygonal convex hull region.

[0080] It should be noted that the initial safe region is the region formed after removing the target concave region from the polygon convex hull region. Therefore, the target boundary line contained in the initial safe region corresponding to the target concave region will not coincide with the boundary line of the polygon convex hull region.

[0081] Referring to Figures 5 and 6, the first concave region 18 and the second concave region 19 are the target concave regions. The boundary lines coinciding with the initial safe region 21 and the first concave region 18 are the boundary lines between vertex A and vertex L, and between vertex L and vertex K. The connecting line formed by these two boundary lines is defined as a target boundary line. The boundary lines coinciding with the initial safe region 21 and the second concave region 19 are the boundary lines between vertex J and vertex I, between vertex I and vertex H, between vertex H and vertex G, and between vertex G and vertex H. The connecting line formed by these boundary lines is defined as a target boundary line. Alternatively, the boundary lines not coinciding with the first concave region 18 and the polygonal convex hull region 15 are the boundary lines between vertex A and vertex L, and between vertex L and vertex K. The connecting line formed by these two boundary lines is defined as a target boundary line. The boundary lines that do not coincide with the second concave region 19 and the polygonal convex hull region 15 are the boundary lines between vertex J and vertex I, between vertex I and vertex H, between vertex H and vertex G, and between vertex G and vertex H. The connecting line formed by these boundary lines is then defined as a target boundary line. Subsequently, based on the region formed by the two target boundary lines and the landing points, it is determined whether the target boundary line is an editable boundary line. This embodiment, through the positional relationship between the initial safe region and the target concave region, or the positional relationship between the target concave region and the polygonal convex hull region, can quickly determine the target boundary line contained within the initial safe region corresponding to the target concave region, thereby quickly determining the editable boundary line from the target boundary line and improving the screening efficiency of editable boundary lines.

[0082] In addition, the target boundary line can also be understood as the boundary line of the depression corresponding to the work site, that is, the boundary line where the work site and the target depression area coincide. The boundary line where the work site and the target depression area coincide can be determined as the target boundary line.

[0083] S1202. Define editable boundary lines within the target boundary lines.

[0084] Furthermore, when determining editable boundary lines within the target boundary line, the landing point can be considered to determine whether the straight-line path of the UAV between the landing point and the target boundary line passes through a target recessed area. If the UAV passes through a target recessed area, the target boundary line is determined to be an editable boundary line. Specific implementation steps include S12021-S12022:

[0085] S12021. Determine the closed area based on the endpoints of the target boundary line and the take-off and landing position information.

[0086] For example, the endpoints of the target boundary line are connected to the take-off and landing points respectively to form a closed region between the target boundary line and the take-off and landing points. For example, Figure 7 is a schematic diagram of the third initial safe region provided in the embodiment of this application. As shown in Figure 7, the boundary lines between vertex A and vertex L and between vertex L and vertex K are connected to form a target boundary line, the endpoints of which are vertex A and vertex K respectively. Vertex A and vertex K are connected to the take-off and landing points 11 respectively to form a first closed region 22 between the target boundary line and the take-off and landing points 11. The boundary lines between vertex J and vertex I, between vertex I and vertex H, between vertex H and vertex G, and between vertex G and vertex H are connected to form a target boundary line, the endpoints of which are vertex J and vertex E respectively. Vertex J and vertex E are connected to the take-off and landing points 11 respectively to form a second closed region 23 between the target boundary line and the take-off and landing points 11.

[0087] Alternatively, the endpoints of the target boundary line can be connected to the contour points of the take-off and landing area to form a closed region between the target boundary line and the take-off and landing points. The endpoints used to connect the target boundary line can be any contour point of the take-off and landing area, or the points of tangency where the endpoints of the target boundary line are tangent to the take-off and landing area. The process of forming a closed region between the endpoints of the target boundary line and the contour points of the take-off and landing area is largely the same as the process of forming a closed region between the endpoints of the target boundary line and the take-off and landing points; refer to the above process for forming a closed region between the endpoints of the target boundary line and the take-off and landing points, and will not be repeated here.

[0088] S12022. When there is an intersection between the closed region and the target concave region, at least one target boundary line corresponding to the target concave region is determined as an editable boundary line.

[0089] Referring to Figure 7, the first closed region 22 and the first recessed region 18 do not intersect, indicating that the straight-line route from the take-off and landing region 16 to the target boundary line corresponding to the first recessed region 18 will not pass through the first recessed region 18. The UAV can plan an efficient and safe round-trip route between the target boundary line and the take-off and landing region 16 based on the initial safe region 21. That is, the target boundary line is already the optimal boundary line of the initial safe region 21, and there is no need to adjust the position of the target boundary line, thus not setting the target boundary line as an editable boundary line. The second closed region 23 and the second recessed region 19 intersect, indicating that the straight-line route from the take-off and landing region 16 to the target boundary line corresponding to the second recessed region 19 will pass through the second recessed region 19. The UAV may not be able to plan an efficient round-trip route between the target boundary line and the take-off and landing region 16 based on the initial safe region. That is, the target boundary line is not the optimal boundary line of the initial safe region 21, and the user needs to manually adjust the position of the target boundary line to set the target boundary line as an editable boundary line.

[0090] This embodiment accurately determines whether the drone will pass through the target recessed area when traveling between the target boundary line and the landing point or landing area by checking whether the closed area formed by the target boundary line and the landing point intersects with the target recessed area. Therefore, target boundary lines that the drone will pass through recessed areas are set as editable boundary lines, while target boundary lines that the drone will not pass through recessed areas are not set as editable boundary lines. Users do not need to determine which boundary lines in the initial safe area need adjustment; that is, users can directly adjust target boundary lines that affect the drone's flight efficiency, improving the efficiency of safe area boundary line adjustment and making the safe area boundary line editing function more intelligent and flexible.

[0091] It should be noted that if the initial safe zone is not obtained by removing the target concave region from the polymorphic convex hull region, but is formed by connecting the outermost vertices of the work area to the take-off and landing points, and the boundary lines of the work area away from the take-off and landing points between the outermost vertices, then the target concave region has not yet been determined. In this case, the concave region formed by the boundary concavity of the work area can be determined based on the outline shape of the work area. If the boundary line of the concave region in the work area coincides with the boundary line of the initial safe zone, then the concave region is determined as the target concave region. If the boundary line of the concave region in the work area does not coincide with the boundary line of the initial safe zone, then the concave region is not considered as the target concave region. Then, the editable boundary line of the initial safe zone is determined based on the boundary line of the target concave region.

[0092] Optionally, the boundary line connecting the take-off and landing point or the corresponding work area within the initial safe area can be defined as an editable boundary line. Referring to Figure 6, the boundary line connecting take-off and landing area 16 to vertex A and the boundary line connecting take-off and landing area 16 to vertex D are both editable boundary lines. It is understood that the boundary line connecting the take-off and landing point to the work area within the initial safe area, along with the boundary lines within the work area that do not coincide with the boundary line of the initial safe area, form a closed region. This closed region is the area the UAV will traverse when traveling between the take-off and landing point and the work area. If this region contains obstacles, the safety of the UAV's round trip cannot be guaranteed when planning the round-trip route based on the initial safe area. Therefore, the boundary line connecting the take-off and landing point to the work area within the initial safe area can be set as an editable boundary line, allowing the user to adjust the position of this editable boundary line to adjust the closed region between the take-off and landing point and the work area, ensuring that the closed region no longer contains obstacles, so that a safe round-trip path can be directly planned based on the safe area.

[0093] S130: Receive editing operations on editable boundary lines and adjust the editable boundary lines according to the editing operations.

[0094] For example, after determining the editable boundary line of the initial safe area, the remote control device can display the initial safe area and mark the editable boundary line in the editing interface. The user can input editing operations on the editable boundary line in the editing interface by touching the remote control device's display screen. After receiving the editing operation, the remote control device adjusts the position and length of the editable boundary line according to the touch data of the editing operation. The editing operation can be a dragging, rotating, or scaling operation triggered by the user selecting the editable boundary line, thereby adjusting the position and length of the editable boundary line accordingly.

[0095] Optionally, editable boundary points can be generated based on the editable boundary line. Users can adjust the position and length of the corresponding editable boundary line by adjusting the position of the editable boundary points. For example, Figure 8 is a flowchart of adjusting the editable boundary line provided in an embodiment of this application. As shown in Figure 8, the steps for adjusting the editable boundary line specifically include S1301-S1303:

[0096] S1301. Set the editable boundary line of the initial safe area displayed in the editing interface to an editable state, and add editable boundary points at the inflection points of the editable boundary line.

[0097] For example, after determining the editable boundary line of the initial safe area, the remote control device opens the editing interface on the display screen, displays the initial safe area in the editing interface, sets the editable boundary line of the initial safe area to an editable state, and adds editable boundary points at the inflection points of the editable boundary line.

[0098] For example, Figure 9 is a schematic diagram of one of the editing interfaces provided in an embodiment of this application. As shown in Figure 9, the editing interface 26 displays an initial safe region 21. The editable boundary line of the initial safe region 21 is displayed in the editing interface 26 in the form of a dashed line, and the non-editable boundary line of the initial safe region 21 is displayed in the editing interface 26 in the form of a solid line. Editable boundary points 24 are added at the inflection points of the editable boundary lines. Users can adjust the position and length of the corresponding editable boundary lines by adjusting the position of the editable boundary points 24.

[0099] When editing boundary points are added at the inflection points of editable boundary lines, adjustments only change the corresponding straight line segments to another straight line segment; the shape remains unchanged, resulting in poor editing flexibility. To address this, new editable boundary points can be added to the editable boundary lines. These new points allow straight line segments to be adjusted into polyline segments, enabling flexible navigation around obstacles within the initial safe area and improving the editing flexibility of the safe area.

[0100] Optionally, add icons for editable boundary points can be set on the editable boundary lines of the initial safe area displayed in the editing interface; upon receiving a click operation on the add icon, an editable boundary point is added at the corresponding position of the add icon on the editable boundary line. Referring to Figure 9, after setting the editable boundary lines of the initial safe area 21 displayed in the editing interface 26 to an editable state, add icons 25 for editable boundary points are added to each straight line segment of the editable boundary lines. The user clicks the add icon 25 in the editing interface 26 to input a click operation on the add icon 25 to the remote control device, and the remote control device responds to the click operation by adding a new editable boundary point at the corresponding position of the add icon 25 on the editable boundary line. Since the straight line segment corresponding to the add icon 25 is divided into two straight line segments by the newly added editable boundary point, the add icon 25 is added to the newly divided straight line segment, and the add icon 25 clicked by the user is transformed into an editable boundary point 24. Figure 10 is a second schematic diagram of the editing interface provided in this application embodiment. Referring to Figures 9 and 10, after clicking the add icon 25 in the lower right corner shown in Figure 9, the add icon 25 is converted into an editable boundary point 24, and new add icons 25 are added on the straight line segments on both sides, resulting in the editing interface 26 shown in Figure 10.

[0101] S1302, Receive the movement operation of the editable boundary point, and adjust the editable boundary point according to the movement operation.

[0102] For example, the movement operation can be a press-and-drag operation, which is the operation entered by the user when selecting an editable boundary point in the editing interface and dragging it. When the user enters a press-and-drag operation on the editable boundary point displayed in the editing interface, the remote control device receives the press-and-drag operation and adjusts the editable boundary point according to the press-and-drag operation. Referring to Figure 10, when the user selects the editable boundary point P in the editing interface 26 and drags it upward, a press-and-drag operation is triggered. The remote control device moves the editable boundary point P upward according to the drag trajectory of the press-and-drag operation. When the user releases the editable boundary point P, the editable boundary point P is finally moved to the position determined as the adjusted editable boundary point P.

[0103] Optionally, the movement operation can also be triggered via a joystick control. That is, after the user selects an editable boundary point in the editing interface, they can adjust the position of the editable boundary point using the directional keys in the joystick control. For example, when the user clicks on an editable boundary point displayed in the editing interface, they input a first click operation. The remote control device receives the first click operation on the editable boundary point and displays a joystick control in the editing interface based on the first click operation. Then, when the user clicks on a directional key in the joystick control to input a second click operation, or presses and holds a directional key in the joystick control to input a long press operation, the remote control device receives the second click operation or long press operation on the joystick control and adjusts the editable boundary point based on the second click operation or long press operation. For example, Figure 11 is a schematic diagram of the editing interface provided in an embodiment of this application. Referring to Figures 10 and 11, when the user clicks on the editable boundary point Q in Figure 10 to input a first click operation on the editable boundary point Q, the remote control device responds to the first click operation by enlarging the editable boundary point Q to highlight the current position of the editable boundary point Q being edited. Simultaneously, a joystick control 27 is displayed below the initial safe area 21, containing directional keys for moving the editable boundary point Q. When the user taps the up arrow key in the joystick control 27 to input a second tap operation on the editable boundary point Q, the remote control device responds to the second tap operation by moving the editable boundary point Q upwards. Alternatively, when the user presses and holds the up arrow key in the joystick control 27 to input a long press operation on the editable boundary point Q, the remote control device responds to the long press operation by moving the editable boundary point Q upwards.

[0104] This embodiment provides both dragging and moving operations of editable boundary points, as well as moving them via a joystick control. This allows users to coarsely adjust the position of editable boundary points by dragging and finely adjust them by moving them via a joystick control, thus improving the flexibility of editing the safety zone boundary lines.

[0105] Referring to Figure 11, after the user inputs the first click operation on the editable boundary point, the editing interface 26 displays, in addition to the joystick control 27, a left switching control 29 and a right switching control 30 for switching editable boundary points, as well as a delete control 28 for deleting editable boundary points. When the user clicks the left switching control 29, the currently edited editable boundary point is switched to the corresponding previous editable boundary point. When the user clicks the right switching control 30, the currently edited editable boundary point is switched to the corresponding next editable boundary point. When the user clicks the delete control 28, the currently edited editable boundary point is deleted from the editable boundary line, and the straight line segments at both ends of the deleted editable boundary point are merged into a single straight line segment, that is, the two outer endpoints of the straight line segments at both ends of the deleted editable boundary point are connected to form a new straight line segment.

[0106] S1303. Adjust the corresponding editable boundary line based on the adjusted editable boundary points.

[0107] For example, after adjusting the position of the editable boundary point, the editable boundary points located on both sides of the editable boundary point are reconnected to form a new straight line segment. The original straight line segment is deleted, and a new editable boundary line is formed by the new straight line segment. For example, Figure 12 is a fourth schematic diagram of the editing interface provided in an embodiment of this application. Referring to Figures 10 and 12, after the user drags the editable boundary point P shown in Figure 10 upwards and releases it, the editable boundary point P moves to the position shown in Figure 12. At the same time, the remote control device moves the straight line segments at both ends of the editable boundary point P to the position shown in Figure 12.

[0108] Optionally, if the distance between the adjusted editable boundary point and another editable boundary point is less than or equal to a preset distance, the editing interface prompts the user whether to merge the adjusted editable boundary point with the corresponding nearby editable boundary point. If the user confirms the merging, the adjusted editable boundary point and the corresponding nearby editable boundary point are merged into one editable boundary point, and the straight line segment between the adjusted editable boundary point and the corresponding nearby editable boundary point is deleted. For example, Figure 13 is a schematic diagram of the editing interface provided in the embodiment of this application. Referring to Figures 12 and 13, the adjusted position of editable boundary point P is close to editable boundary point S. The editing interface prompts the user whether to merge editable boundary point P and editable boundary point S into one editable boundary point. After the user confirms the merging, editable boundary point P and editable boundary point S are merged into a new editable boundary point T, and the straight line segment between editable boundary point P and editable boundary point S is deleted accordingly. A new editable boundary line is generated based on editable boundary point T.

[0109] It should be noted that, in order to ensure that each location point in the work area can plan a corresponding route to and from the take-off and landing point through the safety zone, the safety zone must include the entire work area. That is, the adjusted editable boundary line cannot cross the boundary line of the work area; otherwise, the current editing operation on the editable boundary line will be cancelled.

[0110] Optionally, after adjusting the editable boundary line in response to an editing operation, the remote control device can determine whether the adjusted editable boundary line crosses the boundary line of the work area by comparing its position with the work area's position. If the adjusted boundary line crosses the work area's boundary line, it can restore the editable boundary line to its initial state before the editing operation. Specifically, if the adjusted editable boundary line falls within the work area, it is restored to its initial state; if it does not fall within the work area, the adjusted state is retained. For example, the adjusted editable boundary line is compared with the non-boundary area of ​​the work area. If there is an overlap, it is determined that the adjusted editable boundary line falls within the work area, thus determining that it crosses the work area's boundary line. In this case, the editing operation on the editable boundary line is canceled, and the editable boundary line is restored to its initial state before editing. If no overlapping points are found, it is determined that the adjusted editable boundary line does not fall inside the boundary line of the work area, and thus it is determined that the adjusted editable boundary line does not cross the boundary line of the work area. Therefore, the current editing operation on the editable boundary line is retained, that is, the adjusted state of the editable boundary line is retained.

[0111] For example, Figure 14 is a sixth schematic diagram of the editing interface provided in this application embodiment. Referring to Figures 11 and 14, after the user moves the editable boundary point Q shown in Figure 11 upward to the position shown in Figure 14 using the joystick control 27, the remote control device adjusts the straight line segments at both ends of the editable boundary point Q according to the adjusted position to obtain the adjusted editable boundary line. The remote control device compares the adjusted editable boundary line with the non-boundary area of ​​the work plot, determines that the adjusted editable boundary line falls inside the work plot, and thus determines that the adjusted editable boundary line crosses the boundary line of the work plot. Therefore, the movement operation of the editable boundary point Q is canceled, and the editable boundary point Q and the straight line segments at both ends are restored to the position shown in Figure 11.

[0112] Furthermore, the remote control device can determine in real time whether the adjusted position of the editable boundary line crosses the boundary line of the work area when the user inputs an editing operation on the editable boundary line. If it does, the color of the editable boundary line will be changed to red or other prompt colors to notify the user that the current editable boundary line has crossed the boundary line of the work area, so that the user can stop the editing operation on the editable boundary line in time and improve the user experience.

[0113] S140. Generate the target safe area based on the adjusted editable boundary line.

[0114] The target safe area is the safe zone used to plan the round-trip route of the UAV between the operating site and the take-off and landing point. For example, after adjusting the editable boundary line, the enclosed area formed by the adjusted editable boundary line, the unadjusted editable boundary line, and the non-editable boundary line is defined as the target safe area.

[0115] Optionally, referring to Figures 12 and 13, after merging editable boundary point S and editable boundary point P into the same editable boundary point to generate a new editable boundary line in the initial safe area 21, the user clicks the save control (not shown in the figure) in the editing interface to trigger the save operation, and the remote control device saves the initial safe area 21 displayed in the current editing interface 26 as the target safe area.

[0116] Subsequently, the remote control device can generate a round-trip route between the work site and the take-off and landing point within the target safety area. Since the target safety area is a safety area obtained by the user after editing the initial safety area based on the location of obstacles and the target recessed area of ​​the work site, it does not contain obstacles but will contain the target recessed area of ​​the work site that the drone can pass through. The remote control device can plan an efficient and safe round-trip route based on the target safety area.

[0117] In summary, the operational safety zone generation method provided in this application generates an initial safety zone based on the operational site and the take-off and landing position information of the unmanned equipment. The initial safety zone includes the operational site, the take-off and landing positions, and the area between the operational site and the take-off and landing positions. The initial safety zone may contain obstacles and may not include recessed areas of the operational site that the unmanned equipment can traverse. Therefore, an editable boundary line of the initial safety zone can be determined, allowing the user to adjust the position range of the initial safety zone using this editable boundary line. The corresponding editable boundary line is adjusted according to the user's input editing operation. Based on the adjusted editable boundary line, a target safety zone is generated that does not contain obstacles but includes recessed areas of the operational site that the unmanned equipment can traverse. Subsequently, a safe and efficient round-trip or transfer flight route can be directly planned based on the target safety zone, meeting the needs of efficient unmanned equipment operations. Moreover, a safe and efficient flight route can be planned without pre-mapping obstacles, simplifying the complexity of flight route planning operations and thus improving the efficiency of flight route planning.

[0118] Based on the above embodiments, Figure 15 is a structural schematic diagram of a work safety area generation device provided in this application embodiment. Referring to Figure 15, the work safety area generation device provided in this embodiment specifically includes: an initial area generation module 31, an editable boundary determination module 32, an editable boundary adjustment module 33, and a target area generation module 34.

[0119] Among them, the initial area generation module 31 is configured to generate an initial safe area based on the work site and the take-off and landing position information of the unmanned equipment;

[0120] Editable boundary determination module 32 is configured to determine the editable boundary lines of the initial safe area;

[0121] The editable boundary adjustment module 33 is configured to receive editing operations on the editable boundary line and adjust the editable boundary line according to the editing operations.

[0122] The target region generation module 34 is configured to generate a target safe region based on the adjusted editable boundary line.

[0123] Based on the above embodiments, the initial region generation module 31 includes: a convex hull region generation submodule, configured to generate a polygonal convex hull region based on the take-off and landing position information of the work site and the unmanned equipment; the initial region generation submodule is configured to determine a target concave region in the polygonal convex hull region, remove the target concave region in the polygonal convex hull region to obtain an initial safe region, the target concave region being a concave region around the work site that meets a first preset condition, the concave region being a region formed by the concavity of the site boundary, and the first preset condition being that the boundary line of the concave region coincides with the boundary line of the polygonal convex hull region.

[0124] Based on the above embodiments, the take-off and landing location information includes the take-off and landing point, and the convex hull region generation submodule includes: a take-off and landing region generation unit, configured to generate a take-off and landing region based on the take-off and landing point of the unmanned equipment; an outer vertex determination unit, configured to determine multiple outer vertices based on the take-off and landing region and the work site; and a convex hull region generation unit, configured to connect the multiple outer vertices to generate a polygonal convex hull region.

[0125] Based on the above embodiments, the initial region generation submodule includes: a depression region determination unit, configured to determine the depression region formed by the depression of the land boundary of the work site according to the outline shape of the work site; a condition judgment unit, configured to determine whether the depression region meets a first preset condition; and a target depression region determination unit, configured to determine the depression region as a target depression region when the depression region meets the first preset condition.

[0126] Based on the above embodiments, the condition judgment unit includes: a first judgment subunit, configured to determine that the concave region satisfies the first preset condition if the remaining area of ​​the polygonal convex hull region has no empty area after subtracting the concave region from the polygonal convex hull region; and a second judgment subunit, configured to determine that the concave region does not satisfy the first preset condition if the remaining area of ​​the polygonal convex hull region has empty area after subtracting the concave region from the polygonal convex hull region.

[0127] Based on the above embodiments, the editable boundary determination module 32 includes: a target boundary determination submodule, configured to determine a target boundary line in the initial safe area; wherein, the target boundary line is an inward boundary line in the initial safe area; or, the target boundary line is a boundary line that coincides with the boundary line of the target recessed area in the boundary line of the initial safe area; or, the target boundary line is a boundary line that does not coincide with the boundary line of the polygonal convex hull area in the boundary line of the target recessed area; and a first editable boundary determination submodule, configured to determine an editable boundary line in the target boundary line.

[0128] Based on the above embodiments, the editable boundary determination submodule includes: a closed region generation unit, configured to determine a closed region based on the endpoints of the target boundary line and the take-off and landing position information; and an editable boundary determination unit, configured to determine at least one target boundary line corresponding to the target concave region as an editable boundary line when the closed region intersects with the target concave region.

[0129] Based on the above embodiments, the closed region generation unit includes: a first closed region generation subunit, configured to connect the endpoints of the target boundary line to the take-off and landing points respectively so that the target boundary line and the take-off and landing points form a closed region; or, a second closed region generation subunit, configured to connect the endpoints of the target boundary line to the contour points of the take-off and landing region so that the target boundary line and the take-off and landing points form a closed region.

[0130] Based on the above embodiments, the editable boundary determination module 32 includes: a second editable boundary determination submodule, configured to determine the boundary line of the take-off and landing point or the boundary line of the corresponding connected work plot in the initial safety area as an editable boundary line.

[0131] Based on the above embodiments, the editable boundary adjustment module 33 includes: an adjustment restoration submodule, configured to restore the editable boundary line to its initial state after the editable boundary line is adjusted according to the editing operation and falls into the work area; and an adjustment retention submodule, configured to retain the adjusted state of the editable boundary line if the adjusted editable boundary line does not fall into the work area.

[0132] Based on the above embodiments, the editable boundary adjustment module 33 includes: an editable boundary point display submodule, configured to set the editable boundary line of the initial safe area displayed in the editing interface to an editable state before receiving an editing operation on the editable boundary line, and add editable boundary points at the inflection points of the editable boundary line; an editable boundary point adjustment submodule, configured to receive a movement operation on the editable boundary point and adjust the editable boundary point according to the movement operation; and an editable boundary line adjustment submodule, configured to adjust the corresponding editable boundary line based on the adjusted editable boundary point.

[0133] Based on the above embodiments, the editable boundary adjustment module 33 includes: an icon display submodule, configured to set an add icon for an editable boundary point on the editable boundary line of the initial safe area displayed in the editing interface after setting the editable boundary line of the initial safe area displayed in the editing interface to an editable state; and an editable boundary point adding submodule, configured to receive a click operation on the add icon and add an editable boundary point at the corresponding position of the add icon on the editable boundary line.

[0134] Based on the above embodiments, the editable boundary point adjustment submodule includes: a first adjustment unit configured to receive a press-and-drag operation on the editable boundary point and adjust the editable boundary point according to the press-and-drag operation; or, the editable boundary point adjustment submodule includes: a joystick control display unit configured to receive a first click operation on the editable boundary point and display a joystick control on the editing interface according to the first click operation; and a second adjustment unit configured to receive a second click operation or a long press operation on the joystick control and adjust the editable boundary point according to the second click operation or the long press operation.

[0135] The operational safety area generation device provided in this application generates an initial safety area based on the operational site and the take-off and landing position information of the unmanned equipment. The initial safety area includes the operational site, the take-off and landing position, and the area between the operational site and the take-off and landing position. The initial safety area may contain obstacles, and it may not include recessed areas of the operational site that the unmanned equipment can pass through. Therefore, an editable boundary line of the initial safety area can be determined, allowing the user to adjust the position range of the initial safety area through the editable boundary line. The corresponding editable boundary line is adjusted according to the user's input editing operation. Based on the adjusted editable boundary line, a target safety area is generated that does not contain obstacles but includes recessed areas of the operational site that the unmanned equipment can pass through. Subsequently, a safe and efficient round-trip or transfer flight route can be directly planned based on the target safety area, meeting the needs of efficient operation of the unmanned equipment. Moreover, a safe and efficient flight route can be planned without pre-mapping obstacles, simplifying the complexity of flight route planning operations and thus improving the efficiency of flight route planning.

[0136] The work safety area generation device provided in this application embodiment can be used to execute the work safety area generation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0137] Figure 16 is a schematic diagram of the structure of an unmanned device provided in an embodiment of this application. Referring to Figure 16, the unmanned device includes: a processor 41, a memory 42, a communication device 43, an input device 44, and an output device 45. The number of processors 41 and the number of memories 42 in the safe area generation device can be one or more. The processor 41, memory 42, communication device 43, input device 44, and output device 45 of the safe area generation device can be connected via a bus or other means.

[0138] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the job safety area generation method in any embodiment of this application (e.g., the initial area generation module 31, editable boundary determination module 32, editable boundary adjustment module 33, and target area generation module 34 in the job safety area generation device). The memory 42 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 42 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0139] The communication device 43 is used for data transmission.

[0140] The processor 41 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 42, thereby realizing the above-mentioned method for generating safe working areas.

[0141] Input device 44 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 45 may include display devices such as a display screen.

[0142] The unmanned equipment provided above can be used to execute the safe operation area generation method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0143] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform a method for generating a safe operating area. The method includes: generating an initial safe area based on the operating site and the take-off and landing position information of unmanned equipment; determining an editable boundary line of the initial safe area; receiving an editing operation on the editable boundary line and adjusting the editable boundary line according to the editing operation; and generating a target safe area based on the adjusted editable boundary line.

[0144] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0145] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the above-mentioned method for generating a safe area for a job, but can also perform related operations in the method for generating a safe area for a job provided in any embodiment of this application.

[0146] The work safety area generation device, storage medium, and unmanned equipment provided in the above embodiments can execute the work safety area generation method provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the work safety area generation method provided in any embodiment of this application.

[0147] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A method for generating a safe working area, characterized in that, include: An initial safe zone is generated based on the work site and the take-off and landing location information of the unmanned equipment. Determine the editable boundary lines of the initial safe area; Receive editing operations on the editable boundary line, and adjust the editable boundary line according to the editing operations; Generate the target safe zone based on the adjusted editable boundary lines.

2. The method for generating a safe work area according to claim 1, characterized in that, The process of generating an initial safe zone based on the work site and the take-off and landing location information of the unmanned equipment includes: A polygonal convex hull region is generated based on the work site and the take-off and landing location information of the unmanned equipment. The target concave region in the polygonal convex hull region is determined, and the target concave region in the polygonal convex hull region is removed to obtain an initial safe region. The target concave region is a concave region around the work site that meets a first preset condition. The concave region is a region formed by the concavity of the site boundary. The first preset condition is that the boundary line of the concave region coincides with the boundary line of the polygonal convex hull region.

3. The method for generating a safe work area according to claim 2, characterized in that, The takeoff and landing location information includes the takeoff and landing points. Generating a polygonal convex hull region based on the work site and the takeoff and landing location information of the unmanned equipment includes: A take-off and landing area is generated based on the take-off and landing points of the unmanned equipment; Multiple peripheral vertices are determined based on the take-off and landing area and the work site; Connect the multiple outer vertices to generate a polygonal convex hull region.

4. The method for generating a safe work area according to claim 2, characterized in that, Determining the target concave region within the polygonal convex hull region includes: The concave area formed by the concavity of the plot boundary is determined based on the outline shape of the plot. Determine whether the recessed area meets the first preset condition; If the recessed area meets the first preset condition, the recessed area is determined to be the target recessed area.

5. The method for generating a safe work area according to claim 4, characterized in that, The step of determining whether the recessed area meets the first preset condition includes: If, after subtracting the recessed region from the polygonal convex hull region, the remaining region of the polygonal convex hull region has no empty areas, then the recessed region is determined to meet the first preset condition. If, after subtracting the recessed region from the polygonal convex hull region, the remaining region of the polygonal convex hull region has a hollow area, then it is determined that the recessed region does not meet the first preset condition.

6. The method for generating a safe work area according to claim 2, characterized in that, The process of determining the editable boundary line of the initial safe area includes: Determine the target boundary line within the initial safe area; wherein the target boundary line is the inward boundary line within the initial safe area; or, the target boundary line is a boundary line within the initial safe area that coincides with the boundary line of the target recessed area; or, the target boundary line is a boundary line within the target recessed area that does not coincide with the boundary line of the polygonal convex hull region. Define editable boundary lines within the target boundary lines.

7. The method for generating a safe work area according to claim 6, characterized in that, Determining the editable boundary line within the target boundary line includes: The closed region is determined based on the endpoints of the target boundary line and the take-off and landing position information; When the closed region intersects with the target recessed region, at least one target boundary line corresponding to the target recessed region is determined as an editable boundary line.

8. The method for generating a safe work area according to claim 7, characterized in that, The takeoff and landing location information includes the takeoff and landing point or takeoff and landing area. Determining the closed area based on the endpoints of the target boundary line and the takeoff and landing location information includes: Connect the endpoints of the target boundary line to the take-off and landing points respectively so that the target boundary line and the take-off and landing points form a closed region; or... Connect the endpoints of the target boundary line to the contour points of the take-off and landing area so that the target boundary line and the take-off and landing points form a closed area.

9. The method for generating a safe work area according to claim 1, characterized in that, The process of determining the editable boundary line of the initial safe area includes: The boundary line connecting the take-off and landing points or take-off and landing areas in the initial safe area to the boundary line of the work site is defined as an editable boundary line.

10. The method for generating a safe work area according to claim 1, characterized in that, After adjusting the editable boundary line according to the editing operation, the method further includes: If the adjusted editable boundary line falls into the work area, the editable boundary line will be restored to its initial state. If the adjusted editable boundary line does not fall into the work area, the adjusted state of the editable boundary line shall be retained.

11. The method for generating a safe work area according to claim 1, characterized in that, Prior to receiving the editing operation on the editable boundary line, the method further includes: Set the editable boundary line of the initial safe area displayed in the editing interface to an editable state, and add editable boundary points at the inflection points of the editable boundary line; Accordingly, receiving the editing operation on the editable boundary line and adjusting the editable boundary line according to the editing operation includes: Receive a movement operation on the editable boundary point, and adjust the editable boundary point according to the movement operation; Adjust the corresponding editable boundary lines based on the adjusted editable boundary points.

12. The method for generating a safe work area according to claim 11, characterized in that, After setting the editable boundary line of the initial safe area displayed in the editing interface to an editable state, the method further includes: Add an icon for an editable boundary point on the editable boundary line of the initial safe area displayed in the editing interface; Upon receiving a click on the add icon, an editable boundary point is added at the corresponding position of the add icon on the editable boundary line.

13. The method for generating a safe work area according to claim 11, characterized in that, Receiving a movement operation on the editable boundary point and adjusting the editable boundary point according to the movement operation includes: Receive a press-and-drag operation on the editable boundary point, and adjust the editable boundary point according to the press-and-drag operation; or, Receive a first click operation on the editable boundary point, and display a joystick control on the editing interface according to the first click operation; Receive a second click or long press operation on the joystick control, and adjust the editable boundary point according to the second click or long press operation.

14. A device for generating a safe work area, characterized in that, include: The initial area generation module is configured to generate an initial safe area based on the work site and the take-off and landing location information of the unmanned equipment; An editable boundary determination module is configured to determine the editable boundary lines of the initial safe area; An editable boundary adjustment module is configured to receive editing operations on the editable boundary line and adjust the editable boundary line according to the editing operations; The target region generation module is configured to generate target safe regions based on the adjusted editable boundary lines.

15. A work safety zone generation device, characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the job safety zone generation method as described in any one of claims 1 to 13.

16. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the job safety area generation method as described in any one of claims 1 to 13.

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