CN113970927B

CN113970927B - Method and device for acquiring operation starting point and electronic equipment

Info

Publication number: CN113970927B
Application number: CN202111165082.1A
Authority: CN
Inventors: 朱俊星; 叶凯杰; 郑立强
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-12-27
Anticipated expiration: 2041-09-30
Also published as: CN113970927A

Abstract

The embodiment of the application provides a method and a device for acquiring a work starting point and electronic equipment, wherein the method for acquiring the work starting point comprises the following steps: acquiring a breakpoint on an initial operation route when an unmanned equipment operation task is interrupted; acquiring a residual operation section from the initial operation route based on the breakpoint; and determining a work starting point based on the break point and an entering path between the end point of the residual work section and a set starting point respectively. Thus, the operation starting point is determined from the breakpoint and the end point of the surplus operation section, the operation starting point of the surplus operation section can be selectively determined, the energy loss of the surplus operation section can be reduced, and the operation efficiency of the unmanned aerial vehicle can be improved.

Description

Method and device for acquiring operation starting point and electronic equipment

Technical Field

The present application relates to the field of unmanned equipment technologies, and in particular, to a method and an apparatus for acquiring a work starting point, and an electronic device.

Background

In the process of carrying out operation tasks when unmanned equipment enters an operation area in the prior art, if all operation tasks cannot be completed at one time, the unmanned equipment interrupts the operation tasks and returns to a set starting point, and then runs from the starting point to an interruption position of the last operation task again to continue operation along the remaining route.

Disclosure of Invention

In order to solve the above technical problem, embodiments of the present application provide a method and an apparatus for acquiring a job starting point, and an electronic device.

In a first aspect, an embodiment of the present application provides a method for acquiring a job starting point, where the method includes:

acquiring a breakpoint on an initial operation route when an unmanned equipment operation task is interrupted;

acquiring a residual operation section from the initial operation route based on the breakpoint;

and determining a work starting point based on the break point and an entering path between the end point of the residual work section and a set starting point respectively.

In a second aspect, an embodiment of the present application provides a path planning method, where the method includes:

and generating a target entry path according to the set starting point and the operation starting point, wherein the target entry path is used for guiding the unmanned equipment to enter a surplus operation section, the operation starting point is determined according to the acquisition method of the operation starting point provided by the first aspect, and the surplus operation section is an operation section where the operation task is not executed when the operation task is interrupted last time in the initial operation route.

In a third aspect, an embodiment of the present application provides an apparatus for acquiring a job starting point, where the apparatus includes:

the first acquisition module is used for acquiring a breakpoint on an initial operation route when an operation task of the unmanned equipment is interrupted;

the second acquisition module is used for acquiring a residual operation road section from the initial operation route based on the breakpoint;

and the determining module is used for determining a work starting point based on the break point and an entry path between the endpoint of the residual work section and a set starting point respectively.

In a fourth aspect, an embodiment of the present application provides a path planning apparatus, where the apparatus includes:

and the generating module is used for generating a target entering path according to the set starting point and the operation starting point, the target entering path is used for guiding the unmanned equipment to enter a residual operation section, the operation starting point is determined according to the operation starting point acquiring method provided by the fourth aspect, and the residual operation section is an operation section which does not execute the operation task when the last operation task in the initial operation route is interrupted.

In a fifth aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory, the memory storing a computer program which, when executed by the processor, performs the method for acquiring a job start point provided by the first aspect and/or the method for planning a path provided by the second aspect.

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, where the computer program, when executed on a processor, executes the method for obtaining a job starting point provided in the first aspect, and/or the method for planning a path provided in the second aspect.

The method, the device and the electronic equipment for acquiring the operation starting point acquire the breakpoint on the initial operation route when the operation task of the unmanned equipment is interrupted; acquiring a residual operation section from the initial operation route based on the breakpoint; and determining a work starting point based on the break point and an entering path between the end point of the residual work section and a set starting point respectively. Thus, the operation starting point is determined from the breakpoint and the end point of the surplus operation section, the operation starting point of the surplus operation section can be selectively determined, the energy loss of the surplus operation section can be reduced, and the operation efficiency of the unmanned aerial vehicle can be improved.

Drawings

To more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope of the present application. Like components are numbered similarly in the various figures.

Fig. 1 is a flow chart illustrating a method for acquiring a job starting point according to an embodiment of the present application;

FIG. 2 is a schematic diagram illustrating an initial work route provided by an embodiment of the present application;

FIG. 3 illustrates a schematic path planning diagram of an unmanned aerial device provided by an embodiment of the present application;

fig. 4A illustrates another schematic path planning diagram of an unmanned aerial device provided by an embodiment of the present application;

fig. 4B illustrates another path planning diagram of the unmanned aerial device provided in the embodiment of the present application;

fig. 5A illustrates another schematic path planning diagram of an unmanned aerial device provided by an embodiment of the present application;

fig. 5B illustrates another schematic path planning diagram of the unmanned aerial vehicle provided by the embodiment of the present application;

fig. 6A illustrates another path planning diagram of an unmanned aerial device provided in an embodiment of the present application;

fig. 6B illustrates another schematic path planning diagram of the unmanned aerial vehicle provided by the embodiment of the present application;

fig. 7 is a schematic diagram illustrating another path planning of an unmanned aerial device provided by an embodiment of the present application;

fig. 8 is a schematic structural diagram illustrating an acquisition apparatus for a job starting point according to an embodiment of the present application;

fig. 9 shows a schematic structural diagram of a path planning apparatus provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present application, are intended to indicate only specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments.

Example 1

The embodiment of the disclosure provides a method for acquiring a job starting point.

Specifically, as shown in fig. 1, the method for acquiring the job starting point includes:

and step S101, acquiring a breakpoint on an initial operation route when the operation task of the unmanned equipment is interrupted.

In this embodiment, the unmanned device includes an unmanned aerial vehicle, an unmanned vehicle, or a self-driving device, but is not limited thereto, and the self-driving device may include a self-driving device and a working device controlled by the self-driving device. When the unmanned aerial vehicle performs work according to the initial work route acquired in advance, the unmanned aerial vehicle may not complete the work at a time due to energy limitation, work time limitation, or an excessively large work area, and the like, and the work task on the initial work route may be interrupted and the set starting point may be returned from the breakpoint.

In this embodiment, the initial work route may include at least one work section. One embodiment of the following initial work route is described below with reference to fig. 2:

referring to fig. 2, the initial operation route 20 may include a plurality of operation sections 21, and the area where the plurality of operation sections 21 are located includes the obstacle C, and correspondingly, the initial operation route 20 further includes a plurality of transition paths 23 and obstacle avoidance paths 22, and the transition paths 23 and the obstacle avoidance paths 22 may be collectively referred to as non-operation paths. In fig. 2, obstacle avoidance end points B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, and B11 are provided around an obstacle C, the obstacle avoidance path 22 is B11B1, B1B2, B2B3, B4B5, B5B6, B6B7, B7B8, B8B9, and B9B10, respectively, the end points of the work links of the initial work route 20 include A1, A2, A3, A4, A5, A6, A7, A8, A9, a10, a11, a12, a13, and a14, and the initial work route 20 includes work links A1A2, A3A4, A5B11, B3A6, A7B4, B10A8, A9B9, B5a10, a11B6, B7a12, and a13a14. The obstacle avoidance path 22 includes: B11B1 → B1B2 → B2B3, B4B7 → B7B10. The transition path 23 includes A2A3, A4A5, A6A7, A8A9, a10a11, a12a13. In fig. 2, the unmanned aerial vehicle flies into the end point A1 of the initial working route 20 from the set starting point O and performs work according to the initial working route 20, for example, pesticide spraying work can be performed according to the initial working route 20.

Referring to fig. 3, if the unmanned aerial vehicle performs work according to the initial work route 20 shown in fig. 2, the work is interrupted at the point D1 when the unmanned aerial vehicle reaches the work section A7B4 due to insufficient power or insufficient auxiliary materials for work operation, the work is interrupted at the breakpoint D1, the starting point O is set to fly back, and the unmanned aerial vehicle acquires the breakpoint D1 and records the breakpoint D1.

It should be noted that although the initial working path 20 is described above by taking the obstacle C existing in the initial working path 20 as an example, in practical applications, there may be a case where no obstacle exists in the initial working path 20, and in this case, the initial working path 20 may not include an obstacle avoidance path.

And step S102, acquiring a residual operation section from the initial operation route based on the breakpoint.

In this embodiment, the remaining operation section is an operation section where the operation task is not executed when the previous operation task is interrupted in the initial operation route. The remaining operation section may include at least one remaining operation section.

If the robot flies back from the break point D1 of fig. 3 to the set start point O, the remaining operation links may refer to fig. 4A, and in fig. 4A, the remaining operation links include D1B4, B10A8, A9B9, B5a10, a11B6, B8a12, and a13a14.

Step S103, determining a work start point based on the break point and the entry path between the end point of the remaining work segment and the set start point, respectively.

In this embodiment, the breakpoint or end point with the shortest entry path may be used as the start point of the job, or there may be other determination manners, which are not limited herein. The set starting point may be an energy replenishment point or a safety departure point of the unmanned aerial vehicle determined based on the mapping data, or may be set autonomously by the user in accordance with actual demand. In the operation of different ranks performed by the unmanned aerial vehicle, the position of the set starting point may be unchanged or may be changed according to the requirements, which is not limited in the present application.

Referring to fig. 4A again, according to the entry paths between the set start point O and the break point D1 and the end points A8, A9, a10, a11, a12, a13, a14 of the remaining operation links, the end point A8 with the shortest entry path to the set start point O can be determined as the operation start point from the break point D1, the end points A8, A9, a10, a11, a12, a13, a14.

In this embodiment, step S103 may include the steps of:

if the breakpoint is on a transition path or an obstacle avoidance path outside the surplus operation section, determining the operation starting point from the end point of the surplus operation section;

and if the breakpoint is on the residual operation section, determining the operation starting point from the breakpoint and the end point of the residual operation section.

In this embodiment, if the break point is on the transition path or the obstacle avoidance path other than the remaining operation section, the operation start point is directly determined from the end points of the remaining operation section without considering the break point, so that the amount of calculation can be reduced and the efficiency can be improved. If the breakpoint is on the residual operation section, the operation starting point is determined from the breakpoint and the end point of the residual operation section, and the most appropriate breakpoint or end point can be selected comprehensively as the operation starting point, so that the accuracy of the operation starting point and the operation efficiency of the unmanned equipment are improved.

For example, referring to fig. 4B, the breakpoint D2 is on the obstacle avoidance path of the initial operation route, and at this time, the determination of the operation starting point may be performed without considering the breakpoint D2, but the operation starting point may be directly determined from the end points of the remaining operation segments.

Next, the remaining operation sections of the break points D1 and D2 will be described with reference to fig. 5A and 5B. For the break point D1 in fig. 4A, the remaining operation segments are D1B4, B10A8, A9B9, B5A10, a11B6, B8a12, a13a14 shown in fig. 5A, and accordingly, since the break point D1 is on the operation segment, the end points of the remaining operation segments in fig. 5A include D1, A8, A9, a10, a11, a12, a13, a14. For the break point D2 in fig. 4B, the remaining operation segments are B10A8, A9B9, B5A10, a11B6, B8a12, a13a14 shown in fig. 5B, and accordingly, since the break point D2 is not on the operation segment, the end points of the remaining operation segments in fig. 5A include A8, A9, a10, a11, a12, a13, a14.

In the present embodiment, the end points of the remaining job path may be determined according to whether or not the break point is on the job segment, so that the job start point may be determined from the end points of the remaining job path according to the scheme provided by the present embodiment.

After the job start point is determined, a subsequent job path may be determined based on the job start point. Next, referring to fig. 6A and 6B, a description will be given of a work path subsequent to the work start point identified as the end point A8 of the remaining work path in fig. 5A and 5B.

Referring to fig. 6A, in the case that the breakpoint is D1, with the end point A8 of the remaining operation path as the operation starting point, the subsequent operation processes may be performed in the order of the remaining operation section A8B10, the obstacle avoidance path B10B7, the obstacle avoidance path B7B4, the remaining operation section B4D1, the transition path D1a10, the remaining operation section a10B5, the obstacle avoidance path B5B7, the obstacle avoidance path B7B9, the remaining operation section B9A9, the transition path A9a12, the remaining operation section a12B8, the obstacle avoidance path B8B7, the obstacle avoidance path B7B6, the remaining operation section B6A11, the transition path a11a14, and the remaining operation section a14 a13.

Referring to fig. 6B, in the case that the breakpoint is D2, the endpoint A8 of the remaining operation path is used as the operation starting point, and the subsequent operation processes may be performed according to the order of the remaining operation section A8B10, the transition path B10A9, the remaining operation section A9B9, the obstacle avoidance path B9B7, the obstacle avoidance path B7B5, the remaining operation section B5a10, the transition path a10a11, the remaining operation section a11B6, the obstacle avoidance path B6B7, the obstacle avoidance path B7B8, the remaining operation section B8a12, the transition path a12a13, and the remaining operation section a13a14.

In this embodiment, in order to reduce the amount of computation and improve the efficiency of the unmanned aerial vehicle for continuing the operation, in the determination process of the operation starting point, the end point used is an alternative end point, of the end points of the remaining operation section, where the length of an entry path between the end point and the set starting point is smaller than a preset path length.

It should be noted that the preset path length may be set by default, and may be determined according to an entry path between an end point of the remaining work segment and a set starting point. For example, the entry paths between the end points of the remaining operation sections and the set start point may be sorted, and the median of all the entry paths may be taken as the preset distance threshold, or the average of the entry paths between the end points of the remaining operation sections and the set start point may be taken as the preset path length, or the preset path length may be determined according to other setting rules, which is not limited herein.

For example, as shown in fig. 4A, the end points A8, A9, a12, a13 of the remaining operation road segments may be determined as alternative end points according to the entry paths between the end points A8, A9, a10, a11, a12, a13, a14 of the remaining operation road segments and the set starting point O, and the alternative end point set includes the end points A8, A9, a12, a13 of the operation sub-route as alternative end points used in the operation starting point determination process.

In this embodiment, the determining the work starting point from the end points of the remaining work segments includes:

if only one alternative endpoint exists, determining the alternative endpoint as a work starting point;

and if more than one candidate end point is arranged, determining the candidate end point with the shortest entry path between the candidate end point and the set starting point as the operation starting point.

Referring again to FIG. 4A, if the candidate endpoints include only one candidate endpoint A8, then candidate endpoint A8 is used as the job starting point. If the candidate end point set includes the candidate end points A8 and A9, the candidate end point A8 having the shortest entry path between the candidate end points A8 and A9 and the set start point O is set as the work start point.

In this way, by classifying the number of candidate end points, it is possible to directly determine a work start point when there is only one candidate end point, and the processing efficiency of determining a work start point from the end points of the remaining work segment is improved. When a plurality of candidate end points exist, the candidate end point with the shortest entering path is determined as the work starting point, the processing efficiency of determining the work starting point is improved, meanwhile, the traveling path of the unmanned equipment is reduced, the energy loss is reduced, and the work efficiency is improved.

In this embodiment, the determining the work starting point from the breakpoint and the end point of the remaining work segment includes:

and taking the breakpoint and the point with the shortest entering path between each alternative endpoint and the set starting point as a work starting point.

Referring to fig. 4A again, if the entry path between the break point D1 and the set starting point O is determined to be the line segment OB2 and the line segment B2D1, the entry paths between the alternative end points A8 and A9 and the set starting point O are determined to be OA8 and OA9, and the entry path OA8 is determined to be the shortest entry path, the alternative end point A8 is taken as the operation starting point.

In this way, the candidate end point or the breakpoint having the shortest entry path is determined as the work start point, so that the travel path of the unmanned aerial vehicle can be reduced, energy loss can be reduced, and work efficiency can be improved.

In an embodiment, the determining of the break point and the entry path with the set starting point includes:

if an obstacle avoidance path exists between the breakpoint and the set starting point, determining an optimal obstacle avoidance point on the obstacle avoidance path; determining an access path between the breakpoint and the set starting point according to the optimal obstacle avoidance point, the breakpoint and the set starting point;

and if no obstacle avoidance path exists between the breakpoint and the set starting point, taking a straight line segment between the breakpoint and the set starting point as an entering path between the breakpoint and the set starting point.

It should be noted that, when an obstacle avoidance path exists between the breakpoint and the set starting point, a straight line segment between the set starting point and the optimal obstacle avoidance point and a straight line segment between the optimal obstacle avoidance point and the breakpoint may be determined as the breakpoint, and the straight line segment is determined as the entry path between the set starting point and the breakpoint.

For example, referring to fig. 4A again, an obstacle avoidance path B1B2, B2B3 exists between the breakpoint D1 and the set starting point O, and an optimal obstacle avoidance point may be determined from the obstacle avoidance path B1B2, B2B3, wherein if the determined optimal obstacle avoidance point is B2, the line segment D1B2 and the line segment B2O may be determined as an entry path between the breakpoint D1 and the set starting point O. If the obstacle avoidance path does not exist between the breakpoint D1 and the set starting point O, taking a straight line D1O between the breakpoint D1 and the set starting point O as an entry path between the breakpoint and the set starting point.

It should be noted that, although the above embodiment determines the best obstacle avoidance point from the obstacle avoidance path, and then obtains the entry path based on the best obstacle avoidance point, the set starting point, and the breakpoint, in other embodiments, the entry path between the breakpoint and the set starting point may be generated directly by an obstacle avoidance path planning algorithm based on the breakpoint, the set starting point, and the obstacle information on the obstacle avoidance path. In the foregoing, the optimal obstacle avoidance point may be determined from the obstacle avoidance path through a path planning algorithm, but to further simplify the determination process of the optimal obstacle avoidance point and avoid the computational complexity caused by the path planning algorithm, in an embodiment, the optimal obstacle avoidance point may be directly determined from end points of the obstacle avoidance path, and accordingly, the determining the optimal obstacle avoidance point from the obstacle avoidance path includes:

determining the sum of linear distances between each obstacle avoidance end point on the obstacle avoidance path and the set starting point and the break point respectively;

and taking the obstacle avoidance end point corresponding to the minimum sum value as the optimal obstacle avoidance point.

For example, in fig. 4A, an obstacle avoidance path B1B2, B2B3 is provided between the breakpoint D1 and the set starting point O, and a sum of straight distances between the obstacle avoidance end points B1, B2, B3 and the breakpoint D1 and the set starting point O is calculated, it can be understood that lengths of OB1D1, OB2D1, OB3D1 are calculated, that is, an end point corresponding to the minimum length can be selected as an optimal obstacle avoidance point, for example, assuming that the calculated length of OB2D1 is the minimum, the obstacle avoidance point B2 can be the optimal obstacle avoidance point.

It is to be noted that, as can be seen from the above example, an obstacle exists on OB1D1, and the line segment of OB3 in OB3D1 is very close to the obstacle, in this case, if it is finally determined that the optimal obstacle avoidance point is B1 or B3, it is likely that the unmanned device collides with the obstacle during entering the work starting point along the entering path OB1D1 or OB3D 1. Therefore, to solve this problem and to improve the safety of the operation of the unmanned aerial vehicle, in an embodiment, the determination strategy of the optimal obstacle avoidance point may be adjusted, for example, before determining the optimal obstacle avoidance point on the obstacle avoidance path, the method may further include; determining a straight line path between each obstacle avoidance endpoint on the obstacle avoidance path and the set starting point and the breakpoint; and for each straight line path, determining whether an obstacle exists in a preset range from the straight line path, if so, indicating that the unmanned equipment is likely to collide with the obstacle when entering along the straight line path, and discarding an obstacle avoidance end point corresponding to the straight line path. Therefore, the obstacle avoidance end points with potential safety hazards can be abandoned before the optimal obstacle avoidance point is determined, so that safe obstacle avoidance end points are obtained, and further the subsequent safe access of the unmanned equipment is ensured.

In another embodiment, instead of adjusting the determination strategy of the optimal obstacle avoidance point, the entry path may be adjusted; for example, after determining a straight line segment between the set start point and the optimal obstacle avoidance point and a straight line segment between the optimal obstacle avoidance point and the breakpoint as the entry path between the set start point and the breakpoint, the method may further include: and determining whether an obstacle exists in the preset range of the access path, wherein if the obstacle exists, the obstacle is likely to collide with the obstacle when the unmanned equipment enters along the access path, so that the access path is required to be adjusted, the obstacle does not exist in the preset range of the adjusted access path, and the safe access of the unmanned equipment is further ensured.

The operation starting point is determined from the breakpoint and the end points of the remaining operation sections by comprehensively considering the situations of whether the breakpoint is located in the operation path, whether the obstacle avoidance path exists between the end points of the section point and the remaining operation sections and the set starting point, so that the proper operation starting point can be selected on the premise of ensuring safety, the energy loss is reduced, and the operation efficiency is improved. In the above process, the influence of the entry path on the job starting point is considered, and it can be understood that the path planning in the job process and the path planning in the return process also influence the determination of the job starting point. It is further added that, in an embodiment, the step S103 may include the following steps:

determining a candidate operation end point corresponding to the breakpoint and the end point of the residual operation section as candidate operation starting points;

a job start point is determined from the candidate job start points based on an entry path between each candidate job start point and the set start point and a candidate return path between each candidate job end point and the set start point.

In this embodiment, the breakpoint and the end point of the remaining operation section are used as candidate operation start points, and further, a plurality of points may be screened from the breakpoint and the end point of the remaining operation section by a preset screening rule to be used as candidate operation start points.

Referring to fig. 4A and 5A again, points D1, A8, and A9 may be selected from the break point and the end points of the remaining operation sections as candidate operation start points according to a preset selection rule. Due to the presence of the obstacle, it can be determined that the entry path between the break point D1 and the set start point O is the line segment OB2 and the line segment B2D1, that is, the entry path between the break point D1 and the set start point O is the line segment OB2D1. Due to cruising ability or other operation limiting conditions, the candidate return path E1O between the candidate operation end point E1 and the set start point O is located on the operation section B8a12 corresponding to the determination of the break point D1 as the candidate operation start point. Correspondingly, the point A8 and the point A9 may be used as candidate job start points, and then the corresponding candidate return path is determined according to the determined candidate job end point and the set start point O, which is not described herein again.

Further, referring to fig. 6A, in fig. 6A, when the endpoint A8 of the remaining operation link is taken as the candidate operation starting point, the candidate operation end point E2 corresponding to the endpoint A8 of the remaining operation link is determined to be on the operation link B6A11 due to cruising ability or other operation limiting conditions. When the end point A9 of the remaining operation section is taken as the candidate operation starting point, the candidate operation end point E3 corresponding to the end point A9 of the remaining operation section is determined to be on the operation section a14a13 due to cruising ability or other operation limiting conditions.

In fig. 6A, the entry paths between the candidate work start points A8 and A9 and the set start point O are line segments OA8 and OA9, respectively, and the line segment OA9 is not shown in fig. 6A to simplify the connection relationship of fig. 6A. If there is no obstacle avoidance path between the candidate operation end points E2 and E3 and the set start point O, the candidate return paths are straight line segments E2O and E3O, respectively, and the line segments E2O and E3O are not shown in fig. 6A to simplify the connection relationship of fig. 6A. If an obstacle avoidance path exists between the candidate operation end points E2 and E3 and the set start point O, determining a candidate return path according to the obstacle avoidance end points, the candidate operation end points E2 and E3 and the set start point O on the obstacle avoidance path, or determining a corresponding candidate return path according to an obstacle avoidance path planning algorithm based on the candidate operation start points A8 and A9, the candidate operation end points E2 and E3, the set start point O and obstacle information on the obstacle avoidance path. The specific process can refer to the description in the related above, and is not described herein again to avoid repetition.

It should be noted that, in the process of determining the candidate job end point corresponding to the candidate job start point, the estimated path between the candidate job start point and the break point may be determined first, and the estimated path between the candidate job start point and the break point may be completed first, and if the unmanned device still has the remaining electric quantity and/or the remaining job auxiliary materials, the remaining job may be continuously completed from the break point, so that the continuity of the job may be ensured, and the job omission may be avoided. This is explained below with reference to fig. 7.

Referring to fig. 7, line segments A1A2, A3A4, A5B3, B9A6, A7B4, B8A8, a10B7, and A5D3 represent operation links where the last operation is completed, obstacle avoidance points B1, B2, B3, B4, B5, B6, B7, B8, and B9 are located around the obstacle C, the remaining operation links are line segments D3A9, a11a12, a13a14, and a15a16, and accordingly, the end points of the remaining operation links are line segments A9, a11, a12, a13, a14, a15, and a16. If the end points A9, A11, A12, A13, A14, A16 of the remaining operation sections are respectively used as candidate operation starting points. For each candidate job start point, its corresponding candidate job end point may be determined in the following manner, taking endpoint a12 as an example: the predicted path S1 between the candidate job start point a12 and the break point D3 is determined. The maximum operation distance S2 of the unmanned aerial vehicle can be determined according to the electric quantity and/or the operation auxiliary material quantity of the unmanned aerial vehicle, and then the candidate operation end point corresponding to the candidate operation end point A12 is determined from the residual operation section according to the estimated path S1 and the maximum operation distance S2. Wherein, the maximum travel distance may represent: and after the unmanned equipment runs for the maximum running distance, the unmanned equipment needs to return to the home.

Further, determining the candidate work end point corresponding to the candidate work end point a12 from the remaining work section according to the estimated path S1 and the maximum travel distance S2 may include the following steps:

if the maximum travel distance S2 is less than or equal to the estimated path S1, determining the candidate operation end point E4 according to the maximum travel distance S2, the first operation route a12a11 and the transition path, where in fig. 7, the candidate operation end point E4 is located on the line segment A9D 3.

If the maximum running distance S2 is larger than the estimated path S1, subtracting the estimated path S1 from the maximum running distance S2 to obtain a residual running distance delta S, and then determining a candidate operation end point from other residual operation road sections except the estimated path based on the residual running distance delta S. The above process is illustrated by way of example in fig. 7: first, it should be noted that if the candidate job starting point is not a breakpoint, the candidate starting point is located after the breakpoint in the previous job, for example, the candidate job starting point a12 and the breakpoint D3, so that there may be a remaining job segment without job between the candidate starting point and the breakpoint, and therefore, to ensure that the remaining job segment between the candidate job starting point and the breakpoint is continuously executed to avoid the job omission phenomenon, the estimated path S1 between the candidate job starting point a12 and the breakpoint D3 may be determined first, and then the remaining running distance Δ S for continuous running may be determined after the unmanned equipment walks the estimated path S1. Then, candidate job end points can be determined from other remaining job segments, such as a13a14 and a15a16, outside the estimated path based on the remaining travel distance Δ S, wherein transition path lengths between the break point D3 and end points of other remaining job segments, such as distances between D3a13 and D3a14, respectively, can be calculated first, and then an end point corresponding to the shortest transition path length is selected as a job point after the break point, taking fig. 7 as an example, since the length of D3a13 is shortest, a13 can be taken as a job point after the break point D3, and then the remaining travel distance Δ S is differed from the length value of D3a13, so that candidate job end points can be determined on other remaining job segments outside the estimated path, as shown in E5 in fig. 7. In this way, the unmanned aerial vehicle can complete the operation section from the operation starting point a12 to the breakpoint D3, and then enter other remaining operation sections along the transition path D3a13 until the unmanned aerial vehicle travels to the operation end point E5, in which process, the operation path and sequence of the unmanned aerial vehicle are as follows: a12 → A11 → A9 → D3 → A13 → A14 → A16 → E5.

The predicted path at least comprises a residual operation section, and on the basis, the predicted path can also comprise a transition path. In the following explanation, the predicted path only includes the remaining operation link, in this case, the break point and the candidate operation start point are both on the same remaining operation link, and taking fig. 7 as an example, assuming that the candidate operation start point is A9, the predicted path at this time is A9 → D3, that is, the predicted path at this time only includes the remaining operation link. Further, a case where the predicted path includes a remaining operation link and a transition path is explained, in which case the break point and the candidate operation start point are not on the same remaining operation link, and taking fig. 7 as an example, assuming that the candidate operation start point is a12, the predicted path at this time is a12 → a11 → A9 → D3, that is, the predicted path at this time includes the remaining operation link (a 12a11, A9D 3) and the transition operation path (a 11 A9).

It should be noted that although an obstacle is schematically shown in the drawing on the work path, in actual application, the work path may have no obstacle, and the determination principle of the candidate work start point, the candidate work end point, the work end point, and the like in the case where no obstacle is present is the same as that in the case where an obstacle is present, but it is only necessary to consider no obstacle information in the implementation, and it can be understood that the steps related to obstacle processing are not involved, and therefore it should not be considered that the embodiment of the present invention can be applied only in a case where an obstacle is present.

Considering the influence of the energy consumption of the equipment and the running distance of the equipment on the working efficiency during actual working, the starting point of the working can be determined based on the conditions of the energy consumption of the equipment, the running distance of the equipment and the like during working. Specifically, the determination of the job starting point includes:

acquiring the length sum/or equipment energy consumption sum of an entry path and a candidate return path corresponding to each candidate operation starting point;

and taking the candidate job starting point corresponding to the minimum length sum and/or the minimum equipment energy consumption sum as the job starting point.

For example, referring to fig. 4A again, if the breakpoint D1 is taken as the candidate operation starting point, the candidate operation end point E1 of the breakpoint D1 as the candidate operation starting point is determined according to the power of the unmanned aerial vehicle or the operation auxiliary material amount, and the candidate operation end point E1 is located on the remaining operation section B8a 12. Correspondingly, when the end points A8, A9, a10, a11, a12, a13 of the remaining work links are used as the candidate work start points, the candidate work end points corresponding to the end points A8, A9, a12, a13 may be determined according to the electric quantity of the unmanned equipment or the quantity of the work auxiliary materials, and the candidate work end points corresponding to the end points of the remaining work links are not marked in fig. 4A to avoid redundant drawing reference numerals. And determining corresponding candidate return paths according to the candidate job end points corresponding to the break point D1, the end points A8, A9, A10, A11, A12 and A13, and respectively calculating the length sum/or the equipment energy consumption sum of the entry paths and the candidate return paths corresponding to the break point D1, the end points A8, A9, A10, A11, A12 and A13. In the first aspect, if the sum of lengths is used as a condition for determining the job starting point, a candidate job starting point such as A8 having the smallest sum of lengths may be used as the job starting point; in the second aspect, if the sum of the device energy consumptions is used as a condition for determining the job starting point, a candidate job starting point having the smallest sum of the device energy consumptions, such as A9, may be used as the job starting point; in a third aspect, if the length sum and the device energy consumption sum are used as conditions for determining the job starting point, if there is a candidate job starting point (breakpoint or end point) having both the minimum length sum and the minimum device energy consumption sum, the candidate job starting point may be directly used as the job starting point, and if there is no point having both the minimum length sum and the minimum device energy consumption sum, the length sum and the device energy consumption sum corresponding to each candidate job starting point may be fused, weighted averaged or normalized to obtain a target value capable of representing a comprehensive condition of the length sum and the device energy consumption sum of each candidate job starting point, and then the candidate job starting point having the minimum target value may be selected as the job starting point.

In this way, based on the entry path between each candidate work starting point and the set starting point and the candidate return path between each candidate work ending point and the set starting point, the candidate work starting point with the smallest entry path and return path sum value and/or the smallest equipment energy consumption sum can be selected as the work starting point, the most appropriate breakpoint or end point can be selected as the work starting point from various factors of path distance and equipment energy consumption, and the accuracy of the work starting point and the work efficiency of the unmanned equipment are improved.

In one embodiment, in addition to determining the job start point using the entry path of the candidate job start point and the candidate return path of the candidate job end point, the distance and energy consumption of the candidate job path between the candidate job start point and the candidate job end point may be considered in determining the job start point. Specifically, the job starting point is further determined based on a candidate job path between each candidate job starting point and its corresponding candidate job ending point, and the determination of the job starting point may further include:

for candidate operation paths containing non-operation paths, determining the length sum and/or the equipment energy consumption sum of the non-operation paths in the candidate operation paths, the entry paths and the candidate return paths corresponding to the candidate operation paths; wherein the non-job path includes at least one of: an obstacle avoidance path and a transition path;

for candidate operation paths which do not comprise non-operation paths, determining the sum of the lengths of the entry path and the candidate return path corresponding to the candidate operation paths and/or the sum of the energy consumption of equipment;

In this embodiment, since the energy consumption of the equipment is related to the load of the equipment, the load of the equipment changes as the work progresses, and the total energy consumption of the equipment can be calculated according to a preset calculation formula. For example, the total device energy consumption of the incoming path and the candidate return path of the candidate job path that does not include the non-job path may be calculated using the following equation (1):

formula (1): s _i ＝α ₁ ×L _i,1 +α ₂ ×L _i,2 ；

S _i Represents the sum of the energy consumptions of the devices, L _i,1 Represents the energy consumption of the equipment corresponding to the incoming path, L _i,2 Representing the energy consumption of the device corresponding to the candidate return path, α ₁ And alpha ₂ For presetting the energy consumption parameter, alpha ₁ ＝K*α ₂ ，K>1. It should be noted that the device energy consumption corresponding to each path may be calculated by using a related technology, which is not described herein again.

It will be appreciated that at the start the drone is operating fully, with a corresponding large operating loss, the weight of the drone will be reduced on the candidate return path, with a corresponding small operating loss, and therefore alpha when calculating the flight loss ₁ Greater than alpha ₂ 。

In one embodiment, α may be determined according to the weight or volume of the working auxiliary material carried on the unmanned equipment ₁ And alpha ₂ Namely, K is determined according to the ratio of the corresponding operation auxiliary material amount when the unmanned equipment on the entering path is fully loaded to the operation auxiliary material of the unmanned equipment on the candidate returning path, and then alpha is determined according to K ₁ And alpha ₂ . For example, if the content of the relevant work auxiliary material is 100% when the drone is fully loaded on the entry path, the work auxiliary material in the candidate return path has been partially consumed, and the content of the relevant work auxiliary material is 50%, K =100%/50% =2, and alpha is a value corresponding thereto ₁ ＝1，α ₂ =1/2; on the entering route, the content of the corresponding operation auxiliary material is 100% when the unmanned aerial vehicle is fully loaded, the operation auxiliary material of the unmanned aerial vehicle on the candidate returning route is consumed, the content of the corresponding sprinkling irrigation water is 33.3%, then K =100%/33.3% ≈ 3, and the corresponding alpha is ₁ ＝1，α ₂ ＝1/3。

It is further added that the following formula (2) can be used to calculate the total energy consumption of the devices of the non-job path, the incoming path and the candidate return path of the candidate job path including the non-job path:

formula (2): s. the _i ＝α ₁ ×L _i,1 +α ₂ ×L _i,2 +α ₃ ×L _i,3 ；

S _i Represents the sum of the energy consumptions of the devices, L _i,1 Indicating the energy consumption of the device corresponding to the incoming path, L _i,2 Represents the energy consumption of the equipment corresponding to the candidate return path, L _i,3 Device energy consumption corresponding to non-job path representing candidate job path, distance alpha of candidate return path ₁ 、α ₂ And alpha ₃ For presetting the energy consumption parameter, alpha ₁ ＝K*α ₂ ，K>1，α ₁ ＝H*α ₃ K may be determined according to a ratio of the amount of the working auxiliary materials corresponding to when the unmanned device is fully loaded on the entry path to the working auxiliary materials of the unmanned device on the candidate return path, H may be determined according to a ratio of the amount of the working auxiliary materials corresponding to when the unmanned device is fully loaded on the entry path to the working auxiliary materials of the unmanned device on the non-working path, and a determination process of H is similar to the determination process of K, which is not described herein again.

In this way, the candidate operation starting point corresponding to the minimum length sum is used as the operation starting point, so that the section of invalid operation of the unmanned equipment can be shortened, and meanwhile, the unmanned equipment can be ensured to rapidly enter the operation starting point to perform operation or rapidly return from the operation end point, and further, the efficiency of continuous operation and the return efficiency of the unmanned equipment are improved; the candidate operation starting point corresponding to the minimum equipment energy consumption sum is used as the operation starting point, so that the power consumption of the invalid operation of the unmanned equipment can be reduced; meanwhile, the operation starting point is determined by considering the total length and the energy consumption of the equipment, so that the invalid operation section of the unmanned equipment can be shortened to a certain extent, the continuous operation efficiency and the return efficiency of the unmanned equipment are ensured, and meanwhile, the power consumption of the invalid operation of the unmanned equipment can be reduced to a certain extent.

It should be further noted that, in addition to the job information such as the electric quantity of the unmanned aerial vehicle and the amount of the job auxiliary materials, the determination of the candidate job end point may also need to be adjusted accordingly due to other types of job information of the unmanned aerial vehicle, for example, even if the amount of the job auxiliary materials or the electric quantity of the unmanned aerial vehicle can support the unmanned aerial vehicle to reach a distant candidate job end point and even complete the job of the whole job area, there may be a case that the job of the whole job area is not needed to be completed, for example, the user only wants to use the unmanned aerial vehicle to complete the job of a certain part of the job area, and based on this, the candidate job end point may also be determined in consideration of other factors, and therefore, in an embodiment, the job information may further include but is not limited to: setting the working area, setting the working path length and setting the working time length. Correspondingly, the process for determining the candidate job end point comprises the following steps:

respectively determining candidate job end points corresponding to the candidate job starting points according to the job information of the unmanned equipment; wherein the job information includes at least one of: the method comprises the following steps of unmanned equipment electric quantity, operation auxiliary material quantity, operation area setting, operation path length setting and operation duration setting.

It is understood that in the actual operation, the operation may not be completed all at once for the remaining operation sections, depending on the actual operation time, the actual operation area, the provisional operation plan modification, and the like. Therefore, the candidate work end point corresponding to each candidate work start point can be directly determined according to the unmanned equipment power, the work auxiliary material amount, the set work area, the set work path length, the set work duration and other work information. The candidate job end point may be determined according to one parameter in the job information, or may be determined by combining multiple parameters in the job information, which is not limited herein.

It can be understood that the unmanned equipment has different operation information and different corresponding operation distances, and the corresponding operation end point can be flexibly set. In one embodiment, the determining candidate job end points corresponding to the candidate job start points respectively according to job information of the unmanned aerial vehicle includes:

determining the working distance of the unmanned equipment according to the working information of the unmanned equipment;

and determining candidate operation end points corresponding to the candidate operation starting points according to the operation distance and the residual operation sections.

For example, after determining the farthest traveling distance of the unmanned aerial vehicle according to the unmanned aerial vehicle electric quantity, half of the farthest traveling distance may be used as the work distance, and then a point reached by traveling the work distance along the remaining work section from the candidate work start point may be used as the candidate work end point. In addition, the set operation area, the set operation path length, and the set operation duration input by the user may be received, and the candidate operation end point may be determined according to the set operation area, the set operation path length, and the set operation duration, which is not limited herein.

In an embodiment, the determining a candidate work end point corresponding to each candidate work start point according to the work distance and the remaining work section may include:

for a candidate job starting point which is not a breakpoint, determining the length of an estimated path between the candidate job starting point and the breakpoint; the estimated path comprises a residual operation section between the candidate operation starting point and the breakpoint;

when the working distance is smaller than the length of the pre-estimated path, determining a candidate working end point from the pre-estimated path based on the working distance;

and when the working distance is greater than or equal to the length of the estimated path, determining a candidate working end point from the rest working road sections except the estimated path based on the working distance and the length of the estimated path.

The process of determining the candidate operation end point from the remaining operation sections except the estimated path may include:

determining to obtain a residual working distance based on the working distance and the length of the estimated path;

determining a connection transition path between a breakpoint and each connection end point based on two connection end points of a breakpoint operation section where the breakpoint is located and a target residual operation section which is operated adjacent to the breakpoint operation section;

and determining candidate operation end points from the residual operation sections except the estimated path based on the residual operation distance and the connection transition path.

For the understanding of the above, reference may be made to the above description about the "predicted path", which is not repeated herein. In determining the candidate work end point, the candidate work end point direction may also be determined based on the candidate start work direction of the candidate work segment corresponding to each candidate work start point. Specifically, the determining a candidate work end point corresponding to each candidate work start point according to the work distance and the remaining work link may include:

for each candidate operation starting point, taking the direction from the candidate operation starting point to the other end point in the remaining operation section as a candidate starting operation direction;

and for each candidate operation starting point, determining a candidate operation end point from the residual operation sections according to the candidate starting operation direction and the operation distance corresponding to the candidate operation starting point.

It should be noted that, based on any of the above embodiments, if there is a need for the unmanned equipment to maintain operation on the transition path or the obstacle avoidance path, the unmanned equipment may be kept in a state of continuing operation, such as continuing spraying operation, or sowing operation, or mapping operation, while the unmanned equipment passes through the transition path or the obstacle avoidance path.

According to the method for acquiring the operation starting point, the breakpoint on the initial operation route when the operation task of the unmanned equipment is interrupted is acquired; acquiring a residual operation section from the initial operation route based on the breakpoint; and determining a work starting point based on the break point and an entering path between the end point of the residual work section and a set starting point respectively. Thus, the operation starting point is determined from the breakpoint and the end point of the surplus operation section, the operation starting point of the surplus operation section can be selectively determined, the energy loss of the surplus operation section can be reduced, and the operation efficiency of the unmanned aerial vehicle can be improved.

Example 2

The embodiment of the disclosure provides a path planning method.

Specifically, the path planning method of the embodiment includes:

and generating a target entry path according to the set starting point and the operation starting point, wherein the target entry path is used for guiding the unmanned equipment to enter a surplus operation section, the operation starting point is determined by any one of the acquisition methods of the operation starting point provided in embodiment 1, and the surplus operation section is an operation section which does not execute the operation task when the last operation task is interrupted in the initial operation route.

In this embodiment, the job starting point is determined according to the method for acquiring the job starting point provided in embodiment 1, and related contents may be referred to in embodiment 1, and are not described herein again to avoid repetition.

Referring again to fig. 6A, in fig. 6A showing the set start point O, if the process according to embodiment 1 determines that the end point A8 is the work start point, a target entry path OA8 may be generated according to the set start point O and the work start point A8, and the target entry path OA8 may guide the unmanned aerial device to enter the remaining work section.

Therefore, the target entering path can be generated according to the set starting point and the operation starting point, the unmanned equipment can conveniently and quickly enter the residual operation section, and the operation efficiency of the unmanned equipment is improved.

After determining the target entry path, a job direction may be further determined, which in an embodiment may include the following steps:

determining an initial operation direction corresponding to the starting point operation section according to the operation starting point and the other end point of the starting point operation section where the operation starting point is located;

and determining whether to adjust the operation direction of the surplus operation section and the transition path between the operation adjacent surplus operation sections according to the initial operation direction.

Here, the direction in which the operation starting point points to the other end point of the starting point operation link where the operation starting point points may be taken as the initial operation direction, and taking fig. 6B as an example, assuming that the end point A8 is taken as the operation starting point, the line segment A8B10 is taken as the starting point operation link, and the other end point of the starting point operation link is taken as B10, so that the direction of A8 → B10 may be taken as the initial operation direction. After the initial operation direction is determined, the operation directions corresponding to the remaining operation sections can be sequentially determined according to the operation sequence between the remaining operation section to be executed next and the starting operation section, for example, still taking fig. 6B as an example, the operation directions of all the remaining operation sections shown in the figure can be: a8 → B10 → A9 → B9 → B7 → B5 → A10 → A11 → B6 → B7 → B8 → A12 → A13 → A14.

It is understood that when there are a plurality of remaining operation sections, the transition path between the operation-adjacent remaining operation sections may be a transition path connecting adjacent 2 sections, or may be a transition path between two remaining operation sections separated by several remaining operation sections. For example, taking fig. 4B as an example, assume that A1A2 and a13a14 are adjacent operation segments and the operation sequence is: a1 → A2 → A14 → A13, then the transition path between A1A2 and A13A14 is A2A14; similarly, assume that A1A2 and A3A4 are adjacent operation segments, and the operation sequence is: a1 → A2 → A3 → A4, the transition path between A1A2 and A3A4 is A2A3.

In this embodiment, when the operation direction of the remaining operation section and the transition path between the operation-adjacent remaining operation sections are adjusted, the operation direction of all the remaining operation sections and the transition path between all the adjacent remaining operation sections may be adjusted, or the operation direction and the transition path of the corresponding remaining operation section may be adjusted after the operation distance is determined according to the operation information.

It is understood that, since the change of the initial operation direction corresponding to the starting operation section may result in the change of the operation direction of the remaining operation section and the change of the transition path between the remaining operation sections adjacent to the operation, the operation direction of the remaining operation section and the transition path between the remaining operation sections adjacent to the operation may be further adjusted. In one embodiment, the process of adjusting the operation direction of the remaining operation section and operating the transition path between the adjacent remaining operation sections includes:

determining an initial operation direction of the starting point operation section on the initial operation route;

and if the initial operation direction is different from the initial operation direction, adjusting the transition path between the operation direction of the residual operation section and the operation adjacent residual operation section.

For example, referring to fig. 2 and 6B again, it is assumed that fig. 2 shows an initial operation route of the drone, and fig. 6B shows an operation route of the current operation performed by the drone when the drone uses A8 as an operation starting point, so that the operation direction of the operation section B10A8 in fig. 2 is B10 → A8, and the operation direction of the operation section B10A8 in fig. 6B is adjusted to A8 → B10, therefore the current operation direction of the remaining operation sections may be changed from the previous operation direction based on the redetermined operation starting point. Therefore, in order to ensure smooth operation of the unmanned aerial vehicle, the operation direction of all or a part of the remaining operation sections and the transition path between the operation adjacent remaining operation sections can be adjusted accordingly, in the initial operation direction different from the initial operation direction.

The route planning method provided in this embodiment generates a target entry route according to a set starting point and a work starting point, where the target entry route is used to guide an unmanned device to enter a remaining work section, the work starting point is determined according to the method for obtaining the work starting point provided in embodiment 1, and the remaining work section is a work section where a work task is not executed when a last work task is interrupted in an initial work route. Therefore, the target entering path can be generated according to the set starting point and the operation starting point, the unmanned equipment can conveniently and quickly enter the residual operation section, and the operation efficiency of the unmanned equipment is improved.

Example 3

Further, in accordance with embodiment 1, an embodiment of the present disclosure provides an acquisition apparatus of a job starting point.

Specifically, as shown in fig. 8, the job start point acquisition device 800 includes:

a first obtaining module 801, configured to obtain a breakpoint on an initial operation route when an unmanned device operation task is interrupted;

a second obtaining module 802, configured to obtain a remaining operation section from the initial operation route based on the breakpoint;

a determining module 803, configured to determine a work starting point based on the break point and an entry path between the end point of the remaining work segment and a set starting point, respectively.

The apparatus 800 for acquiring a job starting point of this embodiment can execute the method for acquiring a job starting point described in embodiment 1 to achieve the same technical effect, and is not described herein again to avoid repetition.

Example 4

In addition, corresponding to embodiment 2, the embodiment of the present disclosure provides a path planning apparatus.

Specifically, as shown in fig. 9, the path planning apparatus 900 includes:

a generating module 901, configured to generate a target entry path according to a set starting point and a job starting point, where the target entry path is used to guide an unmanned device to enter a remaining job segment, where the job starting point is determined according to the method for obtaining a job starting point provided in embodiment 1, and the remaining job segment is a job segment where a job task is not executed when a previous job task is interrupted in an initial job route.

The path planning apparatus 900 of this embodiment may execute the method for obtaining the operation starting point described in embodiment 2 to achieve the same technical effect, and is not described herein again to avoid repetition.

Example 5

Furthermore, an embodiment of the present disclosure provides an electronic device, including: a processor and a memory, the memory storing a computer program that, when executed by the processor, performs the method of acquiring a job start point provided in embodiment 1 and/or the method of path planning provided in embodiment 2.

The electronic device may be an unmanned device, or a terminal device, the unmanned device may be an unmanned aerial vehicle, an unmanned vehicle, or a self-driving device, and the terminal device may be a computer device, a mobile terminal, and the like, which is not limited herein. It should be noted that, for the specific implementation of the processor in this embodiment, reference may be made to the description of corresponding contents in the foregoing embodiments 1 and 2, and details are not repeated here.

Example 6

The present application further provides a computer-readable storage medium, on which a computer program is stored, and when executed by a processor, the computer program implements the method for acquiring a job start point according to embodiment 1 and/or the method for planning a path according to embodiment 2.

It should be noted that, for the specific implementation steps of this embodiment, reference may be made to the description of corresponding contents in the foregoing embodiments 1 and 2, and details are not repeated herein.

In this embodiment, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

It is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but also other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of additional like elements in the process, method, article, or terminal that comprises the element.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application or portions thereof that contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.

Claims

1. A method for acquiring a starting point of a job, the method comprising:

determining a work starting point based on the break point and an entry path between the end point of the residual work section and a set starting point respectively;

the determining a work starting point based on the break point and the entry path between the end point of the remaining work segment and a set starting point respectively comprises:

if the breakpoint is on the surplus operation section, determining a point with the shortest entering path between the breakpoint and the end point of the surplus operation section and the set starting point as the operation starting point; or,

and determining a corresponding candidate operation end point when the breakpoint and the end point of the residual operation section are taken as candidate operation starting points, acquiring an entering path between each candidate operation starting point and the set starting point, and the sum of the lengths of the candidate returning paths between each candidate operation end point and the set starting point and/or the sum of the energy consumption of equipment, and taking the candidate operation starting point corresponding to the minimum length sum and/or the minimum sum of the energy consumption of equipment as the operation starting point.

2. The method according to claim 1, wherein the determining a work start point based on the entry paths between the break point and the end points of the remaining work segments, respectively, and a set start point, further comprises:

and if the breakpoint is on a transition path or an obstacle avoidance path outside the residual operation section, determining the operation starting point from the end points of the residual operation section.

3. The method according to claim 2, wherein the determination of the work start point is performed by using an end point that is an alternative end point, in which an incoming path length between the end point of the remaining work section and the set start point is smaller than a preset path length.

4. The method of claim 3, wherein the determining the work start point from the end points of the remaining work segments comprises:

5. The method according to claim 3, wherein the determining the work start point from the break point and the end point of the remaining work section comprises:

and taking the breakpoint and the point with the shortest entering path between each candidate endpoint and the set starting point as a work starting point.

6. The method according to any one of claims 1 to 5, wherein the determining process of the break point and the entry path of the set starting point comprises:

7. The method of claim 6, wherein the determining an optimal obstacle avoidance point from the obstacle avoidance path comprises:

and taking the obstacle avoidance endpoint corresponding to the minimum sum value as the optimal obstacle avoidance point.

8. The method according to any one of claims 1 to 5, wherein the determining process of the break point and the entry path of the set starting point comprises:

if an obstacle avoidance path exists between the breakpoint and the set starting point, determining an access path between the breakpoint and the set starting point through an obstacle avoidance path planning algorithm based on the breakpoint, the set starting point and obstacle information on the obstacle avoidance path;

9. The method according to claim 1, wherein the job starting point is further determined based on a candidate job path between each candidate job starting point and its corresponding candidate job end point, and the determination of the job starting point comprises:

for candidate operation paths including non-operation paths, determining the sum of the lengths of the non-operation paths in the candidate operation paths, the entry paths and the candidate return paths corresponding to the candidate operation paths and/or the sum of the energy consumption of equipment; wherein the non-job path includes at least one of: an obstacle avoidance path and a transition path;

for candidate operation paths which do not contain non-operation paths, determining the length sum and/or equipment energy consumption sum of the entry path and the candidate return path corresponding to the candidate operation paths;

10. The method of claim 9, wherein the candidate job end point determination process comprises:

respectively determining candidate job end points corresponding to the candidate job starting points according to the job information of the unmanned equipment; wherein the job information includes at least one of: the method comprises the following steps of unmanned equipment electric quantity, operation auxiliary material quantity, operation area setting, operation path length setting and operation time length setting.

11. The method according to claim 10, wherein the determining candidate job end points corresponding to the candidate job start points respectively based on job information of the unmanned aerial vehicle comprises:

12. The method of claim 11, wherein determining candidate work end points corresponding to each candidate work start point according to the work distance and the remaining work segment comprises:

for a candidate job starting point which is not a breakpoint, determining the length of an estimated path between the candidate job starting point and the breakpoint; the pre-estimated path comprises a residual operation section between the candidate operation starting point and the breakpoint;

13. The method of claim 12, wherein determining candidate job end points from remaining job segments outside the estimated route comprises:

14. A method of path planning, the method comprising:

generating a target entry path for guiding the unmanned aerial vehicle to enter a remaining operation section according to the set starting point and the operation starting point, wherein the operation starting point is determined according to the method for acquiring the operation starting point according to any one of claims 1 to 13, and the remaining operation section is an operation section where an operation task is not executed when the last operation task is interrupted in the initial operation route.

15. The method of claim 14, further comprising:

16. The method of claim 15, wherein said determining whether to adjust a transition path between the work direction of the remaining work section and a work adjacent remaining work section based on the initial work direction comprises:

17. An apparatus for acquiring a work start point, the apparatus comprising:

the second acquisition module is used for acquiring a residual operation section from the initial operation route based on the breakpoint;

the determining module is used for determining a work starting point based on an entering path between the breakpoint and the end point of the residual work section and a set starting point respectively;

the determining module is further configured to determine, as the operation starting point, a point, of the end points of the remaining operation segment and the breakpoint, at which an entry path between the breakpoint and the set starting point is shortest, if the breakpoint is on the remaining operation segment; or,

18. A path planning apparatus, the apparatus comprising:

a generating module, configured to generate a target entry path according to a set starting point and a work starting point, where the target entry path is used to guide an unmanned device to enter a remaining work segment, the work starting point is determined according to the method for acquiring a work starting point according to any one of claims 1 to 13, and the remaining work segment is a work segment where a work task is not executed when a last work task is interrupted in an initial work route.

19. An electronic device, comprising: a processor and a memory, the memory storing a computer program which, when executed by the processor, performs the method of acquiring a job starting point of any one of claims 1 to 13, and/or the method of path planning of any one of claims 14 to 16.

20. A computer-readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the method of acquiring a job starting point according to any one of claims 1 to 13 and/or the method of path planning according to any one of claims 14 to 16.