390 results about "Terminal point" patented technology

The invention discloses a surface mine transportation real-time intelligent scheduling method and system based on multi-objective optimization. The method comprises the steps that S1, an initial data loading module initializes the system; s2, the algorithm module verifies the vehicle state after receiving the scheduling request; s3, executing a path generation strategy according to states, wherein a normal vehicle generates all feasible routes based on the global path network; when a user appoints a starting point and a terminal point, a point-to-point optimal route is intelligently generated; s4, performing dynamic optimization scheduling based on the multi-source data; optimal task allocation is solved through a multi-objective optimization model, and a vehicle and route mapping relation is output; and S5, a scheduling result is issued to the vehicle-mounted terminal through the service layer, and a terminal interface displays a recommended route and operation guidance. According to the invention, a dynamic event-driven mechanism and a multi-source data collaborative optimization intelligent scheduling framework are fused, so that efficient distribution of vehicle tasks, real-time generation of paths and quick response to abnormal conditions are realized.

Embodiments of the invention provide a tree form data processing method and apparatus, an electronic device and a readable storage medium. The method comprises the steps of determining selected information corresponding to a selected instruction; monitoring a dragging action of a mouse cursor, predicting a real-time terminal point position of the model through a dragging terminal point, and dynamically rendering a visual prompt layer at the same time; when monitoring that the dragging action is a stop action, determining the placed data and obtaining a data path, and when the data type of the to-be-dragged data is a combination type, obtaining a data set of a to-be-dragged combination where the to-be-dragged data is located and an index position where first data in the to-be-dragged combination is located, assigning the index position to a tail end index in a data path of the data to be dragged; and traversing data elements adjacent to the placed data in the data path of the placed data to update the key value distribution. According to the method, the defect of performance optimization in the process of executing the dragging action by the preset tree form is effectively solved, and the experience feeling in the process of operating the preset tree form by a user is remarkably improved.

The invention provides a robot-based blade interior autonomous crawling sensing method and system, and the method comprises the steps: carrying a multi-sensor array on a robot, the multi-sensor array comprises a binocular fisheye camera array and a ToF sensor array, controlling the robot to start from a path travel starting point, obtaining a panoramic depth image based on the multi-sensor array, and transmitting the panoramic depth image to the robot; recognizing an obstacle based on the panoramic depth image, constructing a three-dimensional point cloud map based on the obstacle, avoiding the obstacle based on the three-dimensional point cloud map, generating a feasible path in the blade, and enabling the robot to move based on the feasible path until the robot reaches a path travel terminal point or a minimum space in which the robot cannot pass. Autonomous crawling perception of the robot in the blade can be ensured, movement of the robot in the blade is ensured, and detection is realized.

The invention discloses a Text-to-SQL (Structured Query Language) generation method and device, a medium and a product, and relates to the field of geographic information technology application, the method comprises the following steps: analyzing a natural language query text input by a user to obtain a source field set and a target field set; determining corresponding nodes of each field in the source field set and the target field set in the river-lake long-system database mode knowledge graph to obtain a source node set and a target node set; the nodes in the source node set serve as starting points, the nodes in the target node set serve as terminal points, the knowledge graph is processed through the shortest path algorithm, and a path set is obtained; decomposing the natural language query text into a plurality of sub-problems by adopting a large language model and a thinking chain technology, and obtaining a dependency relationship among the sub-problems; according to the dependency relationship and the target field set, a public table expression is obtained, and then the SQL statement is obtained, and the accuracy of database query language generation under the river and lake long-term system scene can be improved.

The invention belongs to the technical field of intelligent transportation, and particularly relates to a multi-vehicle alliance collaborative path decision method based on interoperation, which comprises the following steps: acquiring scene information; acquiring a temporary terminal point of the gaming vehicle; grouping the vehicles according to the temporary terminal points of the game vehicles and the current positions of the game vehicles to form sub-communities; obtaining the strategy action of each vehicle in the sub-community, and adjusting to obtain the state of the sub-community; based on the adjusted sub-community state, obtaining the road section duration when all vehicles in the sub-community arrive at the temporary destination; based on the road section duration and the intersection time consumption, calculating the income of the strategy action corresponding to the sub-community and the average income until the sub-community state corresponding to the optimal income is obtained; establishing an ordinary differential equation based on the earnings of the policy actions corresponding to the sub-communities, the average earnings of the policies and the states of the sub-communities, solving by using a fourth-order Runge-Kutta method, and converging to a stable point capable of reaching a Nash equilibrium state; and distributing the route of the vehicle based on the sub-community state corresponding to the Nash equilibrium state.

The invention provides a vehicle driving track deduction method for a large-area monitoring blind area, and belongs to the technical field of intelligent traffic, and the method comprises the steps: firstly positioning a starting point road section and a terminal point road section of a target vehicle, and then determining a structure of a Bayesian network by referring to a traffic road network topological relation; in combination with real-time traffic data such as vehicle speed, traffic flow and road width, influence factors are quantified, probability values of each father node and each child node are calculated, and then Bayesian network parameters are obtained. Then, effective connection of road sections in the road network structure is achieved by selecting the road sections corresponding to the nodes with the high probability values, and finally target vehicle driving track deduction from the starting point to the ending point is completed. According to the method, the real driving track of the vehicle in the large-area monitoring blind area is highly restored, and the collaboration degree of various traffic data is improved.

The invention provides a pressure detection method and semiconductor process equipment, and the method comprises the steps: obtaining a first pressure detection value of a first target sensor which carries out the pressure detection at present, and judging whether the first pressure detection value is greater than or equal to a fusion starting point of the first target sensor and is smaller than a fusion terminal point of the first target sensor or not; when the first pressure detection value is greater than or equal to the fusion starting point of the first target sensor and smaller than the fusion ending point of the first target sensor, acquiring a second pressure detection value of a second target sensor; and performing fusion calculation on the first pressure detection value and the second pressure detection value to obtain a final pressure detection value. According to the invention, the problem that a pressure detection value suddenly changes when a small-range pressure sensor is switched to a large-range pressure sensor to detect pressure can be avoided, the pressure detection precision is improved, the stability of a pressure control process is ensured, and the influence of pressure fluctuation on a process result is avoided.

A sorting system includes a first number of entry points configured to provide sorting goods. The sorting system further has a second number of terminal points configured to receive the sorting goods, and a third number of driverless sorting vehicles configured to transport the sorting goods between the first number of insertion points and the second number of terminal points. Further, a control device is provided, configured to control the driverless sorting vehicles between the first number of insertion points and the second number of terminal points.

The invention relates to the technical field of unmanned aerial vehicle navigation, and relates to an unmanned aerial vehicle inspection path planning method, system and device and a storage medium. The unmanned aerial vehicle inspection path planning method comprises the following steps: acquiring a digital elevation model and a digital surface model of a plateau forest region and laser point cloud data of the plateau forest region; determining a three-dimensional voxel space of the plateau forest region based on the digital elevation model, the digital surface model and the laser point cloud data, performing reachability judgment on the three-dimensional voxel space based on the vertical safety margin, and determining a reachable region of the unmanned aerial vehicle; carrying out three-dimensional path search from a starting point to a terminal point by using an improved algorithm in an unmanned aerial vehicle reachable area; and smoothing the searched three-dimensional path, and applying a maximum turning radius constraint and a maximum climbing rate constraint to generate a final three-dimensional track. According to the invention, the safety and the performability of route planning of the unmanned aerial vehicle can be improved.

The invention discloses an unmanned aerial vehicle flight path planning method and system based on position navigation, and relates to the technical field of path planning, task information is acquired, the task information comprises a starting point position and a terminal point position, and a flight path is planned based on environment information and the task information; distributing the flight path to the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to fly according to the corresponding flight path; and collecting flight environment information in real time in the flight process of the unmanned aerial vehicle, adjusting the unit segment path which does not meet the flight condition to obtain a new unit segment path, and combining the new unit segment path with the adjacent unit segment path to obtain a real-time flight path. According to the invention, the information can be embedded into another carrier, so that the useful information can be transmitted without being noticed and cannot be easily found or read, and a good secret communication effect is achieved.

The invention provides a memory parking method, device and equipment, and the method comprises the steps: controlling a vehicle to run according to a memory parking route in a cruise stage when a user starts a memory parking function. And when the original parking space information of the memory parking route is detected, a target parking space is determined. And determining a splicing route based on the terminal point of the memory parking route and the target parking space. And the splicing route and the memory parking route are spliced, and the spliced memory parking route is obtained. And when the vehicle runs to the end point of the spliced memory parking route, the vehicle is controlled to be switched to a parking stage. In the parking stage, a first parking stage route for reversing to the target parking space is determined; and controlling the vehicle to reverse to the target parking space according to the first parking stage route. By splicing a section of forward driving route in the cruising stage, when the vehicle is switched from the cruising stage to the parking stage, the vehicle can reverse to drive to the target parking space, so that the continuity of the switching stage in the memory parking process is improved, and the user experience is improved.

The invention relates to a rapid edge search method based on a grid map, which comprises the following steps: acquiring starting point information and terminal point information of a path search task, and determining a starting point grid unit and a terminal point grid unit according to grid map data; the grid map data comprises a grid map, obstacle grids and passable grids; initializing a path search data structure by using the starting point grid unit to obtain an open list containing the starting point grid unit; searching a passable path from the starting point grid unit to the end point grid unit along the edge based on a greedy strategy, and updating the open list to obtain the open list containing a passable grid unit sequence; and obtaining a current optimal node grid unit of the open list, and when the current optimal node grid unit is the end point grid unit, generating an optimal path according to the open list. By adopting the method, the path from the starting point to the ending point can be quickly obtained, unnecessary search areas are reduced, and the search rate is improved.

The invention discloses an airship type unmanned aerial vehicle inspection system and inspection method, and belongs to the field of inspection unmanned aerial vehicles. The system comprises a laser radar, an image acquisition device, an airship capsule filled with helium, a standby safety airbag, a communication module and a ground control center, in the method, the ground control center sets an inspection path and issues the inspection path, and the unmanned aerial vehicle flies according to a preset path. During fault detection, the high-definition camera collects images to recognize line cracks and broken strands, the thermal infrared imager monitors the joint temperature, the gas sensor detects abnormal gas, and multi-source data fusion assists in defect positioning. The routing inspection takes a starting point-terminal point connecting line of a power transmission line as a reference, identifies main obstacles and surrounding nodes to perform global planning, performs key routing inspection on a risk area in combination with historical data, and initializes and guides a flight direction through a Q value to reduce invalid exploration. The four-rotor unmanned aerial vehicle solves the problems of short flight time and poor stability of a four-rotor unmanned aerial vehicle, improves the inspection stability and cruising ability, and improves the inspection efficiency of a power transmission line and the reliability of a power system.

The invention belongs to the technical field of optimal planning and site selection of electric vehicle charging stations, and particularly relates to an electric vehicle charging station planning and site selection method, which comprises the following steps: S1, constructing an uncertainty set containing road and node traffic capacity loss; constructing a vehicle starting point-terminal point travel scene set in combination with the historical travel data of the vehicle; s2, constructing a network equalization model considering the arrival time fairness of the electric vehicle users according to the passing time cost difference of the electric vehicle users on the traffic road when the electric vehicle users go to the charging station from the starting point so as to solve regional traffic flow distribution; and S3, based on the traffic flow distribution in the S2, constructing a charging station planning model considering the user arrival time fairness, and determining an optimal site selection and capacity configuration scheme of the charging station. According to the method, the time fairness of the electric vehicle user arriving at the charging station can be ensured while the traffic uncertainty of the traffic network road section is effectively dealt with, and the method has a relatively good market application prospect.

The invention relates to the technical field of industrial production, in particular to a turnout control method and equipment of a sky rail conveying system.The method comprises the steps that terminal point information of a target sky rail vehicle is obtained from an upper computer, and a passing path is determined according to the terminal point information and current position information of the target sky rail vehicle; marking each section of track in the passing path as an occupied state; according to the advancing direction of the passing path, the turnouts are sequentially controlled to be switched and locked to target states corresponding to the turnouts in the passing path; after all the turnouts in the passing path are locked in the target state, the target sky rail vehicle is controlled to run in the passing path; and after the target sky rail vehicle enters the last section of rail in the passing path, marking each rail in the passing path as an idle state and unlocking each turnout. Therefore, transportation in the production environment is achieved through the sky rail and the sky rail vehicle, automation can be achieved, efficiency is improved, meanwhile, man-machine cross operation is avoided, smooth and safe transportation is guaranteed, and production safety is improved.

The invention relates to a deadlock-free core grain routing architecture construction method and device and a processor, and the method comprises the following steps: constructing a multi-data flow network structure in a core grain: constructing an internal subnet which is used for transmitting data in the core grain, does not interact with the outside of the core grain, and comprises at least one routing node and a function module capable of receiving and transmitting data; an outbound subnet is constructed, is used for data transmission in the direction away from the core particles, and comprises at least one routing node, a data transceiving function module and a boundary router; constructing an inbound subnet which is used for data transmission in a core particle direction and comprises at least one routing node, a data transceiving function module and a boundary router; a transmission subnet is constructed, is used for data transmission of which the starting point and the terminal point are other core particles, and comprises at least one routing node, a transmission module and a boundary router; and preventing data transmission from deadlock in the core particles and / or among the core particles according to the multi-data flow network structure through a core particle interaction protocol.

The invention discloses a robot control method, a robot, a storage medium and a program product, and relates to the technical field of automation control, the robot is provided with an image sensor, and the method comprises the following steps: receiving a user instruction, and analyzing the user instruction to obtain an instruction indication object and an instruction indication operation; a target label matched with the instruction indication object is determined from semantic labels of a semantic map corresponding to the external environment where the robot is located, and an entity object corresponding to the target label is determined as the operation object; determining an object position of the operation object based on the semantic map, generating a target path by taking the object position as an end point, and controlling the robot to run according to the target path; and when it is determined that the robot reaches the object position, the robot is controlled to execute the instruction indication operation on the operation object. The task execution efficiency of the robot in a complex environment is improved.

The embodiment of the invention provides an unmanned aerial vehicle patrol route generation method and equipment, and relates to the technical field related to unmanned aerial vehicles. The method comprises the following steps: identifying a three-dimensional space model of a target substation, and obtaining a key node list; the key node list comprises N key patrol points, and the key patrol points represent equipment points needing to be patrolled in the target substation; acquiring an obstacle list; generating a first route by using an A star algorithm and a preset evaluation function according to the starting point, the terminal point, the key node list and the obstacle list of the unmanned aerial vehicle; the preset evaluation function is used for describing the total cost of each waypoint in the first route, the preset evaluation function comprises a dynamic weight factor, and the dynamic weight factor is used for balancing the total cost of the waypoints based on the actual distance between the key patrol point and the unmanned aerial vehicle and the corresponding minimum safety distance; and optimizing the first route to obtain a target route. The method is used for achieving the effect of improving the route planning efficiency and the route safety.

The invention discloses an AI-based unmanned aerial vehicle automatic positioning and navigation system, and the system comprises an unmanned aerial vehicle body which obtains a starting point coordinate through a navigation module by manually inputting a terminal point coordinate and a planned flight time length value t, flies to the terminal point coordinate at a flight speed value V1 and a flight height value H1 from the starting point coordinate, automatically completes a flight task, and automatically judges a return flight; and the monitoring unit is used for acquiring an initial electric quantity value Q of the unmanned aerial vehicle body, transmitting the initial electric quantity value to the coordinate unit, monitoring the output power of the storage battery in real time during flight, and generating a feedback signal and transmitting the feedback signal to the correction unit when abnormal output power is generated during flight. The problems that when an existing unmanned aerial vehicle automatic positioning navigation system is used, the endurance problem of the unmanned aerial vehicle is not considered, and the unmanned aerial vehicle cannot return or even falls in the flight process in the actual flight process are solved.

The invention discloses a multi-layer potential field and dynamic target generation-based unmanned ship formation control method and system. The method comprises the steps of judging whether an unmanned ship formation reaches a target point or not; if the terminal point is not reached, switching to the next target point; judging whether the distance between the target point and the end point exceeds the radius of the global potential field, and if so, activating a dynamic target generation mechanism to generate a temporary target point; updating the current target point; monitoring an environment obstacle state; the acting force of the formation gravitational field, the acting force of the inter-boat repulsion field and the acting force of the obstacle repulsion field are synthesized; and obtaining control input according to the synthetic acting force, updating the formation position and environment sensing data in real time until the terminal point is reached, and ending the navigation task. According to the method, the formation collaborative operation efficiency is improved, and a brand new path is developed for reliable application of the unmanned ship formation in a complex environment by radically solving two major problems of potential field imbalance and collaborative interference.

The invention provides a path planning method, device and equipment and a readable storage medium, and the method is applied to a mobile device, and comprises the steps: obtaining a target map, dividing the target map into a plurality of sub-regions, and enabling the plurality of sub-regions to comprise a starting point region and an ending point region; determining an access point in the starting point area, and determining an outgoing point in the ending point area; a hybrid obstacle avoidance algorithm is utilized to determine an access path between the starting point and the access point and determine an outgoing path between the outgoing point and the terminal point, and the hybrid obstacle avoidance algorithm is a path planning algorithm combining a heuristic search algorithm and vehicle dynamics constraints; determining a main road path between the access point and the outgoing point by using a shortest path search algorithm; and determining a target path of the movable device based on the access path, the main road path and the access-out path. The driving requirements of the movable device can be met while the driving path is optimized.

The invention discloses a four-dimensional running line drawing method and system for a networked multi-scene train working diagram, and the method comprises the steps: building four types of databases and constraint rules, automatically extracting associated data from the built databases in a man-machine interaction mode according to different running scenes, and drawing a running line under the constraint rules. Each running line is attached with four dimensional coordinates including train attributes, running directions, running routes and running time from the starting point to the terminal point, running line parameter information is embodied in real time, the problem that manual assembly of running line data is extremely tedious in the using process of existing running diagram software is solved, high efficiency and refinement of running diagram drawing are achieved, and the running diagram drawing efficiency is improved. The method can adapt to various driving organization scenes, and the rapidity, adaptability, flexibility and refinement of running chart drawing are improved; a foundation is laid for high-quality operation, cost reduction and efficiency improvement of rail transit, and a technical and tool foundation is creatively laid for management and energy conservation of train operation.

The invention provides a path planning method and device, electronic equipment and a readable storage medium, and is suitable for the technical field of path planning. The method comprises the steps of obtaining a task set; wherein the task set comprises a plurality of tasks and attribute information of each task, and the attribute information comprises starting point information and terminal point information; combining the tasks based on the end point information of each task, and determining at least one group of end point clustering groups; wherein the terminal stations corresponding to the terminal information of each task in the terminal clustering group are the same; aiming at each end point clustering group, based on the attribute information of each task in the end point clustering group, determining each target station through which the automatic guided vehicle needs to pass; and based on each target station, determining path planning information of the automated guided vehicle. According to the embodiment of the invention, the method achieves the effective merging of tasks, enables the merging rate of transportation batches to be remarkably improved, effectively reduces the no-load round-trip conditions of an automatic guided vehicle, and improves the utilization rate of the automatic guided vehicle.

The invention relates to a motion agent path planning method and device, equipment and a medium. The method comprises the following steps: periodically obtaining each piece of three-dimensional environment information corresponding to a moving agent, and periodically constructing a current artificial potential field based on each piece of three-dimensional environment information; constructing a two-dimensional grid map corresponding to the motion area of the motion agent; determining a starting point and an ending point of the motion intelligent agent in the map, wherein the starting point and the ending point are effective nodes in the map; performing global path planning based on the current artificial potential field, the two-dimensional grid map and the starting point and the ending point of the motion intelligent agent to obtain a target path; and when the current artificial potential field changes, updating the starting point based on the current position of the motion intelligent body, taking the changed artificial potential field as the current artificial potential field, and performing global path planning again to obtain a target path until the motion intelligent body reaches the terminal point. By adopting the method, global optimality can be met, and real-time dynamic obstacle avoidance can also be met.

The invention discloses a blind person navigation and positioning system and method, and relates to the technical field of intelligent assistance and positioning navigation, and the system comprises a positioning service unit and a navigation service unit. In the positioning service unit, an IMU module collects three-axis acceleration and three-axis angular velocity information of a user in real time and calculates motion data of the user; the GNSS module receives satellite signals in real time and calculates position data of a user; and the data processing module carries out positioning according to the data of the IMU module and the GNSS module, and sends the positioning result of the user to the navigation service unit. In the navigation service unit, a demand acquisition module is used for user interaction and acquiring terminal point information of a user; the path planning module generates an optimal path according to the starting point information and the terminal point information of the user; and the navigation guiding module guides the user to advance along the planned path through voice prompt. And more accurate navigation information is provided for the blind. According to the invention, real-time positioning and navigation services are provided for the blind, and the travel safety and convenience of the blind are enhanced.

A new energy automobile intelligent charging path planning method suitable for an urban road comprises the following steps: 1) optimizing an original road network to obtain a shortest path diagram among a starting point, each charging station and a terminal point; 2) initializing parameters of the ant colony algorithm and values of pheromones; 3) calculating a heuristic factor between points by considering the position, the power and the end point approaching degree of the charging station; 4) calculating the selected probability weights of the terminal point and each charging station, starting from the starting point by each ant, and selecting a next node according to a pseudo-random proportion rule; 5) calculating the optimal charging time of each path reaching the terminal point, obtaining the total time of reaching the terminal point, and carrying out global and local pheromone updating according to the total time; and 6) repeating the steps 4)-5) until convergence, and using a result with the shortest total time as a final electric vehicle charging path. The problem of mileage anxiety of the electric automobile is solved, a proper charging station is selected for a user, and the travel time is shortened.

The embodiment of the invention discloses an equipment pointing control method and system. The method comprises the following steps: in response to a gesture action of a user, sending a UWB signal to each UWB anchor point, and receiving signal arrival time recorded by each UWB anchor point; determining target position information of the control terminal in the three-dimensional space based on the signal arrival time and a preset positioning algorithm; determining signal parameter information from the target equipment to the control terminal when the control terminal points to the target equipment, and locking the pointed target equipment based on the target position information and the signal parameter information; and determining gesture motion track information based on the acquired acceleration data, and matching a control instruction based on the gesture motion track information and a preset track template so as to send a corresponding control instruction to the target equipment. According to the technical scheme, the pointing accuracy and the pointing success rate of the equipment can be improved, and centimeter-level precision non-inductive control is achieved.

The embodiment of the invention discloses a three-dimensional modeling method, device and equipment for a gradient pipeline and a storage medium, and the method comprises the steps: obtaining a starting point three-dimensional coordinate, an end point three-dimensional coordinate, a pipe fitting accessory identifier and a pipeline accessory distance value of the gradient pipeline, and generating a unit direction vector according to the starting point three-dimensional coordinate and the end point three-dimensional coordinate; pipeline accessory positioning processing is carried out based on the unit direction vector, the pipeline accessory distance value and the starting point three-dimensional coordinate, and accessory positioning coordinates are determined according to a processing result; performing pipeline accessory orientation processing according to the unit direction vector, the pipe accessory identifier and a reference direction in a preset world coordinate system, and determining an accessory orientation vector according to a processing result; and inputting the starting point three-dimensional coordinate, the terminal point three-dimensional coordinate, the accessory orientation vector, the accessory positioning coordinate and the pipe fitting accessory identifier into a preset three-dimensional model to obtain a three-dimensional model diagram of the gradient pipeline. According to the scheme, the generation efficiency of the gradient pipeline three-dimensional model diagram can be greatly improved.

The invention discloses an unmanned surface vehicle robust track tracking method based on track curvature adaptive segmentation control, and relates to the technical field of unmanned surface vehicle autonomous navigation control, and the method comprises the steps: calculating the track curvature of a current leg in real time, and dividing a control section based on a preset threshold; executing a corresponding control strategy according to a control section, dynamically adjusting a proportionality coefficient, an integral coefficient and a differential coefficient by adopting fuzzy PID, and generating a steering lag prediction compensation amount based on a planning energy optimal speed; and steering compensation is carried out based on the steering lag prediction compensation amount, so that steering lag is reduced. And finally, judging whether the terminal point of the current flight segment is reached or not so as to obtain an optimized flight path tracking result. Through a curvature-driven three-section control strategy, a dynamic foresight distance dual constraint and an energy consumption optimization mechanism, the problems of tracking drift, control switching oscillation and energy waste of a traditional method in a sharp turn leg are solved, and the tracking precision and the system robustness under a complex track are remarkably improved.

The invention discloses an intelligent driving vehicle, an obstacle avoidance path planning method and device thereof and a medium, and relates to the technical field of path planning. The obstacle avoidance path planning method comprises the steps that a current obstacle sensed on a global path is responded, a first obstacle avoidance path is planned, and the expected end point of the first obstacle avoidance path is located in a first obstacle avoidance safety space relative to the current obstacle; and when the terminal point of the first obstacle avoidance path is reached, obstacle sensing is carried out again, and a second obstacle avoidance path is planned according to a sensing result. The embodiment of the invention provides a step-by-step obstacle avoidance planning strategy, the first step is used for planning the first obstacle avoidance path according to the current obstacle information, and the second step is used for planning at the end point of the first obstacle avoidance path with a wider sensing range, so that the problem of easy planning failure caused by an obstacle sensing blind area is solved, the computing power consumption is low, and the planning efficiency is improved. And landing use in a plurality of application scenes is facilitated.