CN114459480B

CN114459480B - Operation safety area generation method, path planning method and related devices

Info

Publication number: CN114459480B
Application number: CN202111467956.9A
Authority: CN
Inventors: 叶凯杰; 朱俊星; 郑立强
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-12-03
Filing date: 2021-12-03
Publication date: 2024-06-07
Anticipated expiration: 2041-12-03
Also published as: CN114459480A

Abstract

The embodiment of the application relates to the technical field of path planning, and provides a method for generating a safe area of operation, a method for planning the path and a related device. On the one hand, the round trip path is in the safety area, so that the safety of the unmanned equipment can be ensured; on the other hand, the round trip path does not need to pass through a safety point, so that the path length is effectively reduced; therefore, safe and efficient running of unmanned equipment between the current starting point and the land block to be operated is realized, and the operation efficiency is improved.

Description

Operation safety area generation method, path planning method and related devices

Technical Field

The embodiment of the application relates to the technical field of path planning, in particular to a job safety area generation method, a path planning method and a related device.

Background

The unmanned device inevitably travels from a specific starting point (e.g., the landing point of the unmanned) to the land mass and returns from the land mass to the starting point during the operation. In order to ensure the safety of the unmanned equipment, the obstacle needs to be identified by means of a high-definition map, and then an entering path and a returning path are planned for the unmanned equipment according to the obstacle.

But without a high definition map, the safety of the unmanned device traveling between the starting point and the plot would not be guaranteed.

To solve this problem, in the prior art, a safety point is generally used to ensure the safety of the unmanned device, but because of the setting of the safety point, when the unmanned device travels between the starting point and the land, the unmanned device must pass through the safety point, so that many invalid paths may exist in the unmanned device, and the working efficiency is affected.

Disclosure of Invention

The embodiment of the application aims to provide a method for generating a working safety area, a method for planning a path and a related device, which are used for realizing that unmanned equipment can safely travel between a starting point and a land parcel without a safety point under the condition of no high-definition map, and have high working efficiency.

In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:

In a first aspect, an embodiment of the present application provides a job safety area generating method, where the method includes: acquiring a working path of unmanned equipment for executing a current task in a to-be-worked block and a position of a current starting point of the unmanned equipment; and obtaining a safety area corresponding to the current task based on the operation path and the position of the current starting point, wherein the safety area comprises the current starting point and is used for planning a round trip path between the current starting point and the land block to be operated.

Optionally, the job path includes at least one waypoint; the step of obtaining the safety area corresponding to the current task based on the job path and the position of the current starting point comprises the following steps: generating an initial convex hull containing all the waypoints according to the position of each waypoint and the position of the current starting point; expanding the initial convex hull outwards to set a safety distance so as to contain the current starting point, and obtaining a target convex hull; calculating a geometric difference set of the target convex hull and the land block to be operated to obtain at least one geometric region; and taking the geometric area containing the current starting point in the at least one geometric area as the safety area.

Optionally, the step of obtaining the safety area corresponding to the current task based on the job path and the position of the current starting point includes: generating an initial safety area according to the operation path and the position of the current starting point, wherein the initial safety area comprises the current starting point; determining whether the initial secure area is secure; if yes, the initial safety area is used as the safety area; if not, the initial safety area is processed to obtain the safety area.

Optionally, the step of processing the initial security area to obtain the security area includes: determining a dangerous area from the initial safe area according to a first operation in response to the first operation in the initial safe area; and deleting the dangerous area from the initial safe area to obtain the safe area.

Optionally, the step of processing the initial security area to obtain the security area includes: and responding to a second operation in the initial safety area, and adjusting the range of the initial safety area according to the second operation so as to enable the dangerous area to be outside the initial safety area, thereby obtaining the safety area.

Optionally, the step of processing the initial security area to obtain the security area includes: responding to a third operation in the initial safety area, and adding an auxiliary point in the initial safety area according to the third operation; and generating the safety area according to the connecting line of the auxiliary point and the current starting point, wherein the safety area comprises an entering safety channel and a returning safety channel.

Optionally, the unmanned device is equipped with a detection device; the step of processing the initial security area to obtain the security area includes: acquiring obstacle information obtained by the unmanned equipment in the initial safety area; and adjusting the initial safety area according to the obstacle information to generate the safety area which does not contain the obstacle corresponding to the obstacle information.

Optionally, the step of acquiring the job path of the current task performed by the unmanned device in the to-be-worked parcel includes: acquiring a global operation path and historical operation data of the unmanned equipment in the to-be-operated land block; calculating maximum endurance information of the unmanned equipment according to the historical operation data; and determining a job path corresponding to the current task from the global job paths according to the maximum endurance information.

Optionally, after the step of acquiring the job path of the current task performed by the unmanned device in the to-be-worked parcel and the position of the current starting point of the unmanned device, the method further includes: judging whether the current task is a first task or not; when the current task is the first task, executing the position based on the job path and the current starting point to obtain a safety area corresponding to the current task; when the current task is not the first task, the safety area corresponding to the first task is obtained, and the safety area corresponding to the current task is obtained based on the current starting point and the safety area corresponding to the first task.

Optionally, the step of obtaining the security area corresponding to the current task based on the current starting point and the security area corresponding to the first task includes: judging whether the current starting point is in the safety area corresponding to the first task or not; if yes, the safety area corresponding to the first task is used as the safety area corresponding to the current task; and if not, executing the step of obtaining the safety area corresponding to the current task based on the operation path and the position of the current starting point to obtain the safety area corresponding to the current task.

In a second aspect, an embodiment of the present application further provides a job safety area generating method, where the method includes: obtaining a land block boundary of each of a plurality of land blocks to be operated and a position of a current starting point of unmanned equipment; and obtaining a safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the safety area comprises all the land parcel to be operated and the current starting point, and the safety area is used for planning a round trip path between the current starting point and the land parcel to be operated.

Optionally, the step of obtaining the safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be worked and the position of the current starting point includes: generating a convex hull containing all the plots to be operated according to the plot boundaries of each plot to be operated and the positions of the current starting points; and expanding the convex hull to set a safety distance so as to contain the current starting point, and obtaining the safety area.

Optionally, the step of obtaining the safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be worked and the position of the current starting point includes: generating an initial safety area according to the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the initial safety area comprises all the land parcel to be operated and the current starting point; determining whether the initial secure area is secure; if yes, the initial safety area is used as the safety area; if not, the initial safety area is processed to obtain the safety area.

In a third aspect, an embodiment of the present application further provides a job security area generating method, where the method includes: acquiring a working path and a current starting point position of each unmanned device in a plurality of unmanned devices for executing a current task in a to-be-worked block; obtaining a target safety area corresponding to each unmanned equipment based on the corresponding operation path and the current starting point position of each unmanned equipment, wherein the target safety area comprises the corresponding current starting point of the unmanned equipment; when an intersection exists among a plurality of target safety areas, adjusting the range of at least one target safety area with the intersection until each target safety area is disjoint, so as to obtain a safety area corresponding to each unmanned equipment; the safety area is used for planning a corresponding round trip path between the current starting point and the land block to be operated.

Optionally, the method further comprises: and when no intersection exists between each target safety area, taking each target safety area as the safety area of the corresponding unmanned equipment.

In a fourth aspect, an embodiment of the present application further provides a path planning method, where the method includes: acquiring a safety area of unmanned equipment at a land block to be operated; the secure area is generated by the method of the first aspect or the second aspect or the third aspect; and planning a round trip path between the current starting point corresponding to the current task of the unmanned equipment and the land block to be worked in the safety area.

Optionally, the method further comprises: controlling the unmanned equipment to enter the to-be-operated land block or return from the to-be-operated land block along the round trip path; in the process that the unmanned equipment moves along the round trip path, acquiring obstacle information in a detection range of the detection equipment through the detection equipment carried by the unmanned equipment; and updating the safety area according to the obstacle information to obtain the safety area which does not contain the obstacle corresponding to the obstacle information.

In a fifth aspect, an embodiment of the present application further provides a job safety area generating apparatus, where the apparatus includes: the first acquisition module is used for acquiring a working path of the unmanned equipment for executing the current task in the to-be-worked block and the position of the current starting point of the unmanned equipment; the processing module is used for obtaining a safety area corresponding to the current task based on the position of the working path and the current starting point, wherein the safety area comprises the current starting point, and the safety area is used for planning a round-trip path between the current starting point and the land block to be worked.

In a sixth aspect, an embodiment of the present application further provides a job safety area generating apparatus, where the apparatus includes: the first acquisition module is used for acquiring the land parcel boundary of each of a plurality of land parcels to be operated and the position of the current starting point of unmanned equipment; the processing module is used for obtaining a safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the safety area comprises all the land parcel to be operated and the current starting point, and the safety area is used for planning a round trip path between the current starting point and the land parcel to be operated.

In a seventh aspect, an embodiment of the present application further provides a job safety area generating apparatus, where the apparatus includes: the first acquisition module is used for acquiring a working path and a current starting point position of each unmanned equipment in the plurality of unmanned equipment for executing the current task in the to-be-worked block; a processing module for: obtaining a target safety area corresponding to each unmanned equipment based on the corresponding operation path and the current starting point position of each unmanned equipment, wherein the target safety area comprises the corresponding current starting point of the unmanned equipment; when an intersection exists among a plurality of target safety areas, adjusting the range of at least one target safety area with the intersection until each target safety area is disjoint, so as to obtain a safety area corresponding to each unmanned equipment; the safety area is used for planning a corresponding round trip path between the current starting point and the land block to be operated.

In an eighth aspect, an embodiment of the present application further provides a path planning apparatus, where the apparatus includes: the second acquisition module is used for acquiring a safety area of the unmanned equipment at the to-be-operated land block; the secure area is generated by the method of the first aspect or the second aspect or the third aspect; and the path planning module is used for planning a round trip path between the current starting point corresponding to the current task of the unmanned equipment and the land block to be worked in the safety area.

In a ninth aspect, an embodiment of the present application further provides an unmanned apparatus, where the unmanned apparatus includes: one or more processors; and a memory for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the job safety area generation method in the first aspect or the second aspect or the third aspect, or the path planning method in the fourth aspect.

In a tenth aspect, the embodiment of the present application further provides a multi-machine collaboration system, where the multi-machine collaboration system includes a plurality of unmanned devices, where the plurality of unmanned devices traverse between respective starting points and a to-be-operated parcel through respective corresponding safety areas, and execute tasks in the to-be-operated parcel; the security area corresponding to each unmanned device is generated by the method in the third aspect.

In an eleventh aspect, an embodiment of the present application further provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the job safety area generation method in the first aspect or the second aspect or the third aspect, or the path planning method in the fourth aspect.

Compared with the prior art, the method for generating the operation safety area, the method for planning the path and the related device provided by the embodiment of the application have the advantages that under the condition of no high-definition map, the safety area corresponding to the current task is determined by the position of the operation path of the current task and the current starting point of the unmanned equipment, and the safety area comprises the current starting point and can be used for planning the round trip path between the current starting point and the to-be-operated plot. On the one hand, the round trip path is in the safety area, so that the safety of the unmanned equipment can be ensured; on the other hand, the round trip path does not need to pass through a safety point, so that the path length is effectively reduced; therefore, safe and efficient running of unmanned equipment between the current starting point and the land block to be operated is realized, and the operation efficiency is improved.

Drawings

Fig. 1 shows an example diagram of prior art applications.

Fig. 2 is a schematic flow chart of a job safety area generation method according to an embodiment of the present application.

Fig. 3 illustrates an application example diagram of a job safety area generation method according to an embodiment of the present application.

Fig. 4 illustrates an application example diagram of a job safety area generation method according to an embodiment of the present application.

Fig. 5 illustrates an application example diagram of a job safety area generation method according to an embodiment of the present application.

Fig. 6 illustrates an application example diagram of a job safety area generation method according to an embodiment of the present application.

Fig. 7 illustrates an application example diagram of a job safety area generation method according to an embodiment of the present application.

Fig. 8 illustrates an application example of a job safety area generation method according to an embodiment of the present application.

Fig. 9 shows a second flowchart of a job safety area generation method according to an embodiment of the present application.

Fig. 10 shows a flowchart of a job safety area generation method according to an embodiment of the present application.

Fig. 11 shows a flowchart of a job safety area generation method according to an embodiment of the present application.

Fig. 12 illustrates an application example of a job safety area generation method according to an embodiment of the present application.

Fig. 13 shows a fifth flowchart of a job safety area generation method according to an embodiment of the present application.

Fig. 14 shows a flowchart of a path planning method according to an embodiment of the present application.

Fig. 15 is a block diagram of a job safety area generating apparatus according to an embodiment of the present application.

Fig. 16 is a schematic block diagram of a path planning apparatus according to an embodiment of the present application.

Fig. 17 shows a block schematic diagram of an unmanned device according to an embodiment of the present application.

Icon: 100-a job safety area generating device; 101-a first acquisition module; 102-a processing module; 200-path planning device; 201-a second acquisition module; 202-a path planning module; 10-unmanned equipment; 11-a processor; 12-memory; 13-bus.

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.

Currently, under the condition of no high-definition map, the safety of the unmanned equipment traveling between the starting point and the land block cannot be ensured. Based on this, in the prior art, a manner of manually setting a safety point is generally used to ensure safety of unmanned equipment between a starting point and a land parcel.

In general, the process of setting the security point may be: first, finding the shortest straight line from the starting point of the unmanned equipment to the block boundary, as shown in fig. 1; then, finding out the first intersection point of the shortest straight line and the land parcels, such as the point M in FIG. 1; the first intersection point is moved to the ground by a set distance, which may be the width of the unmanned device in order to ensure the safety of the unmanned device, so that a safety point is obtained, as shown in fig. 1. Or the safety point may be set empirically by a person without any limitation.

However, because of the setting of the safety point, the unmanned device must pass through the safety point when traveling from the starting point to the land and returning from the land to the starting point. For example, in fig. 1, point a and point B are the start point and the end point of a primary operation path of the unmanned device, and when the unmanned device goes from the start point to point a, it must go to point M first, and then go from point M to point a; similarly, when the unmanned device returns to the starting point from the point B, it must return to the point M first and then return to the starting point from the point M.

Obviously, the unmanned equipment has more invalid paths, and the working efficiency of the unmanned equipment is affected.

In order to solve the problem, under the condition of no high-definition map, the embodiment of the application determines the safety area corresponding to the current task through the current operation path and the current starting point, wherein the safety area comprises the current starting point and can be used for planning the round trip path between the current starting point and the to-be-operated land, so that the safety of unmanned equipment can be ensured, the path length is effectively reduced, the safe and efficient running of the unmanned equipment between the current starting point and the to-be-operated land can be ensured, and the operation efficiency is improved. The following is a detailed description.

The unmanned equipment in the embodiment of the application can be an unmanned plane, or an unmanned vehicle, a cotton field machine, an agricultural machine and the like. The user may select different devices according to the actual application scenario, which is not limited herein. The following examples illustrate unmanned aerial vehicles.

Referring to fig. 2, fig. 2 is a schematic flow chart of job safety area generation according to an embodiment of the present application. The job safety area generation is applied to unmanned equipment, and can comprise the following steps:

S101, acquiring a working path of the unmanned equipment for executing the current task in the to-be-worked block and the position of the current starting point of the unmanned equipment.

In practice, because of the size of the land, the cruising ability of the unmanned device, the amount of the drug carried, etc., the unmanned device may perform multiple operations in the land, and the operation path of each operation may be different, and at the same time, the starting point of the unmanned device may also change during multiple operations, for example, manually moving the unmanned device to a charging point for charging, taking off from the charging point after the charging is completed, etc.

Therefore, the embodiment of the application is described by taking one operation of unmanned equipment in a land block to be operated as an example.

In this embodiment, a global job path of the unmanned device may be planned in advance in the to-be-worked land, and then a current job path of the unmanned device may be determined from the global job path in combination with an actual scene. For example, the last task end point is used as the current task start point, and the current task end point is estimated according to the actual endurance capacity of the unmanned device, so that the current job path can be obtained.

As an embodiment, the process of acquiring the job path of the unmanned device to perform the current task in the to-be-worked parcel in step S101 may include:

And acquiring the global operation path and the historical operation data of the unmanned equipment in the to-be-operated land block.

And calculating the maximum endurance information of the unmanned equipment according to the historical operation data.

And determining a job path corresponding to the current task from the global job paths according to the maximum cruising information.

The historical job data may be various data of the unmanned device performing historical tasks in the parcel to be worked, such as power, medication, job parameters, and the like. The operation parameters can be model, speed, height, row spacing, mu spraying amount and the like. The maximum endurance information may be a maximum endurance distance, a maximum endurance time, etc. for the unmanned device to perform the current task.

In one possible implementation manner, an algorithm for estimating maximum endurance information according to data such as electric quantity and medicine quantity, operation parameters and operation paths can be learned by using a machine learning method according to historical operation data of the unmanned equipment, and then the calculated maximum endurance information of the unmanned equipment is estimated through the algorithm.

In another possible implementation manner, according to a large amount of historical operation data, the maximum cruising distance or the maximum cruising time of the unmanned equipment under different operation parameters of different models can be counted, and then the maximum cruising distance or the maximum cruising time with the closest operation parameters is selected as the calculated maximum cruising information of the unmanned equipment.

After the maximum cruising distance or the maximum cruising time is calculated, the current operation path, namely the operation path of unmanned equipment for executing the current task, can be determined from the global operation path of the to-be-operated land according to the maximum cruising distance or the maximum cruising time. For example, as shown in fig. 3, point a is the start point of the current job, and the maximum cruising position estimated according to the above calculation process is point B, then the current job path is the part from a to B in the global job path.

S102, based on the position of the working path and the current starting point, a safety area corresponding to the current task is obtained, wherein the safety area comprises the current starting point, and the safety area is used for planning a round trip path between the current starting point and a land block to be worked.

The safety zone may be a safety zone between a current starting point of the unmanned device and the parcel to be worked, and the safety zone includes the current starting point of the unmanned device. The safety area can ensure the safety of the unmanned equipment in any travel, namely, the safety of the unmanned equipment can be ensured as long as the round trip path of the unmanned equipment between the current starting point and the land block to be operated is arbitrarily planned in the safety area.

In this embodiment, the round trip path may include an entry path for the unmanned device to travel to the parcel to be worked, and a return path for the unmanned device to leave the parcel to be worked. The entering path may be planned according to the position of the current start point and the start point position of the working path, and the returning path may be planned according to the position of the current start point and the end point position of the working path.

Step S102 is described in detail below.

As a possible implementation manner, the job path may include at least one waypoint, and thus, the process of obtaining the safe area corresponding to the current task based on the job path and the current starting point in step S102 may include:

s102a, generating an initial convex hull containing all waypoints according to the position of each waypoint and the position of the current starting point;

S102b, expanding the initial convex hull outwards to set a safety distance so as to contain a current starting point, and obtaining a target convex hull;

S102c, calculating a geometric difference set of the target convex hull and the land block to be operated to obtain at least one geometric region;

s102d, taking the geometric area containing the current starting point in the at least one geometric area as a safety area.

For example, as shown in fig. 4 (a), when the secondary job path is from a to B, an initial convex hull including all the waypoints may be generated by using a geometric convex hull algorithm according to the positions of the waypoints and the positions of the starting points on the secondary job path. That is, a point set is formed according to the position of each waypoint and the position of the current starting point on the working path, and a geometric convex hull algorithm is used to generate a minimum convex polygon which can contain the point set, and the minimum convex polygon is the initial convex hull. It should be noted that the geometric convex hull algorithm is a common algorithm in mathematics, and will not be described in detail.

Then, since the starting point cannot be actually a point but is a region, in order to ensure the safety of the unmanned device, as shown in fig. 4 (b), the initial convex hull needs to be expanded by a set safety distance to obtain the target convex hull including the starting point. The set safe distance can be flexibly set by the user according to experience and actual scenes, so long as the starting point can be contained, and no limitation is made on the setting safe distance.

And then, calculating a geometric difference set of the target convex hull and the land block to be worked, and obtaining at least one geometric region. The geometric difference set may be a different part of the target convex hull and the to-be-worked block, for example, the geometric difference set between the to-be-worked block and the target convex hull in fig. 4 (b) is calculated, and the geometric region as shown in fig. 4 (c) may be obtained.

If there is only one geometric region, the geometric region is a safe region, for example, if there is only one geometric region in fig. 4 (c), the geometric region is regarded as a safe region as shown in fig. 4 (d).

However, due to the complexity of the actual operation, there may be more than one geometric area, for example, as shown in fig. 5 (a), the to-be-operated block is an irregular pattern, and after the current operation path covers the whole to-be-operated block to obtain the target convex hull, the geometric difference set between the to-be-operated block and the target convex hull is calculated, so that the geometric area 1 and the geometric area 2 shown in fig. 5 (b) can be obtained.

Therefore, if the obtained geometric area is plural, the geometric area including the current start point among the plural geometric areas is taken as the safety area, for example, as shown in fig. 5 (b), the geometric area 1 is taken as the safety area as shown in fig. 5 (c), and the geometric area 1 includes the start point.

After the secure area is obtained in the above manner, the secure area can be considered secure and used for planning the round trip path. In some scenarios, however, it is possible that some obstacles are present in the secure area, so in order to ensure the security of the unmanned device, in some embodiments it may be further determined whether the secure area is secure, for example, by a user confirming whether the secure area is secure, or controlling the unmanned aerial vehicle to fly in the secure area to detect the security of various locations in the secure area, etc. If the safety is determined, the safety area is the final safety area; if the safety is not determined, the safety area is required to be adjusted according to the obstacle information determined by the user or the obstacle information detected by the unmanned aerial vehicle, and finally the safety area without the obstacle is obtained. The embodiment of the present application is not limited in this regard.

As another possible implementation manner, the process of obtaining the safety area corresponding to the current task in step S102 based on the job path and the position of the current starting point may include:

S1021, generating an initial safety area according to the position of the operation path and the current starting point, wherein the initial safety area comprises the current starting point.

S1022, determining whether the initial security area is secure.

S1023, if the initial safety area is determined to be safe, taking the initial safety area as a safety area.

S1024, if the initial safety area is determined to be unsafe, the initial safety area is processed to obtain a safety area.

The process of generating the initial security area in S1021 is similar to the process of generating the security area in S102a to S102d, and detailed implementation may be referred to the description of the foregoing embodiments, which is not repeated herein. The process of processing the initial secure area to obtain the secure area in S1024 will be described in detail.

In one possible implementation, the processing the initial security area in S1024 to obtain a security area may include S10241-S10242.

S10241, responding to a first operation in the first initial safety area, and determining a dangerous area from the initial safety area according to the first operation.

S10242, deleting the dangerous area from the initial safe area to obtain the safe area.

The first operation may be a user's framing operation of a dangerous portion in the initial safe area. For example, if the initial secure area is not secure, the user may frame the dangerous portion in the initial secure area with a polygon, thereby forming a dangerous area. And then deleting the dangerous area from the initial safe area to obtain the safe area.

For example, as shown in fig. 6 (a), the user boxes out a dangerous area in the first initial safe area. Thereafter, as shown in fig. 6 (b), the dangerous area is deleted from the first initial safe area, and a safe area can be obtained.

In another possible implementation, the processing the initial security area in S1024 to obtain the security area may include S10243.

S10243, responding to a second operation in the initial safety area, and adjusting the range of the initial safety area according to the second operation so as to enable the dangerous area to be outside the initial safety area and obtain the safety area.

The second operation may be a user range adjustment operation for the initial security area. For example, if the initial secure area is not secure, the user may adjust the range of the initial secure area to avoid the hazardous area such that the resulting secure area does not include the hazardous area.

For example, as shown in fig. 7 (a), the initial safety area includes a dangerous area, and as shown in fig. 7 (b), the user adjusts the range of the initial safety area to avoid the dangerous area, thereby obtaining a final safety area.

In yet another possible implementation manner, if the environment of the initial safety area is complex, including many dangerous areas and complex situations, the safety area with both the working efficiency and the safety cannot be obtained by the two methods, and then an auxiliary point can be added in the initial safety area, so that a safe and efficient safety channel is generated.

Thus, the process of processing the initial secure enclave to obtain the secure enclave in S1024 may include S10244 to S10245.

S10244, in response to a third operation in the initial security area, adding an auxiliary point in the initial security area according to the third operation.

S10245, generating a safety area according to the connecting line of the auxiliary point and the current starting point, wherein the safety area comprises an entering safety channel and a returning safety channel.

The third operation may be that the user adds an auxiliary point in the initial security area, and then connects the auxiliary point added by the user with the starting point to generate an entry security channel and a return security channel. The addition of the auxiliary point needs to consider the starting point and the end point of the current operation path as much as possible, so that the current starting point, the auxiliary point and the starting point of the current operation path are on one connecting line as much as possible, and the current starting point, the auxiliary point and the end point of the current operation path are on one connecting line.

For example, as shown in fig. 8 (a), the initial security area includes a plurality of dangerous areas, and as shown in fig. 8 (b), the user adds an auxiliary point, and the connection between the current starting point and the auxiliary point forms two security channels.

It should be noted that the number of auxiliary points is not limited to one, and if the safety channel formed by the connection between the added auxiliary point and the starting point is still unsafe, the auxiliary point may be added to the safety channel to obtain a final safety channel.

Meanwhile, the entering safety channel and the returning safety channel are not strictly distinguished, and in practical application, when unmanned equipment goes from the current starting point to the land block to be operated, one of the two safety channels, which is close to the starting point of the current operation path, is taken as the entering safety channel. Similarly, when the unmanned equipment returns to the current starting point from the to-be-operated land, one of the two safety channels, which is close to the end point of the current operation path, is used as a return safety channel. For example, when the unmanned aerial vehicle enters the ground from the safety passage, the unmanned aerial vehicle fails and needs to return to the safety passage, and the unmanned aerial vehicle does not need to return to the safety passage at this time and directly returns to the ground from the safety passage.

In a possible case, after determining the initial safety area according to step S1021, the round trip path may be further planned directly in the initial safety area, and at the same time, a detection device such as a binocular camera, a radar, a sonar, etc. may be mounted on the unmanned device to detect whether the front area is safe. And then, in the process of the unmanned equipment traveling according to the round trip path, the safety of the front area can be detected by the detection equipment, and if the front area is detected to be unsafe, the front area is used as a dangerous area, the round trip path is planned again, so that the safety of the unmanned equipment operation is ensured.

In yet another possible implementation, the process of processing the initial safe area to obtain the safe area in S1024 with the unmanned device mounted with the detection device, for example, radar, sonar, etc., may include S10246-S10247.

Acquiring obstacle information obtained by detection of unmanned equipment in an initial safety area;

And adjusting the initial safety area according to the obstacle information to generate a safety area which does not contain the obstacle corresponding to the obstacle information. That is, in addition to the above three ways of processing the initial safety area into the safety area depending on the user operation, detection devices such as a radar and a sonar may be mounted on the unmanned device, and the detection devices may detect obstacle information in the initial safety area, and adjust the initial safety area according to the detected obstacle information, thereby finally generating the safety area including no obstacle.

In one possible scenario, the starting point of each job may or may not be the same among the multiple jobs. Therefore, referring to fig. 9 on the basis of fig. 2, after step S101, the path planning method provided in the embodiment of the present application may further include steps S10a to S10b.

S10a, judging whether the current task is the first task or not.

The first task refers to a task which can be completed only by the unmanned equipment through multiple operations, and the unmanned equipment performs the operation for the first time. In this embodiment, if the current task is the first task, step S102 is performed; if the current task is not the first task, step S10b is performed.

S10b, acquiring a safety area corresponding to the first task, and acquiring the safety area corresponding to the current task based on the current starting point and the safety area corresponding to the first task.

For the situation of multiple jobs, before each job, whether the current task is the first task can be judged first, and if so, a safety area corresponding to the first task is generated according to the method introduced in the step S102; if the task is not the first task, determining a safety area corresponding to the current task according to the current starting point and the safety area corresponding to the first task.

Step S10b will be described in detail. Referring to fig. 10 on the basis of fig. 9, step S10b may include steps S10b-1 to S10b-2.

S10b-1, judging whether the current starting point is in a safety area corresponding to the first task.

In this embodiment, if the current starting point is in the safe area corresponding to the first task, step S10b-2 is executed; if the current starting point is not within the safe area corresponding to the first task, step S102 is performed.

S10b-2, taking the safety area corresponding to the first task as the safety area corresponding to the current task.

In the multiple jobs, for the case that the current task is not the first task, it may be first determined whether the current starting point is in a safety area corresponding to the first task, and if the current starting point is not in the safety area corresponding to the first task, the safety area corresponding to the current task is generated according to the method introduced in step S102; and if the current starting point is in the safety area corresponding to the first task, taking the safety area corresponding to the first task as the safety area corresponding to the current task.

It should be noted that, in the multiple jobs, for the case that the current task is not the first task and the current starting point is not in the safety area corresponding to the first task, the user may be reminded to place the unmanned device in the safety area corresponding to the first task, and then the safety area corresponding to the first task may be used as the safety area corresponding to the current task. In one possible scenario, there may be multiple plots to be worked on, i.e., one unmanned device is used to work on multiple plots to be worked on, i.e., a single execution device for multiple plots. In this application scenario, since there is only one unmanned device, the method of steps S101 to S102 may also be used to obtain the second security area corresponding to each operation, and the details described in steps S101 to S10 are specifically referred to, and are not described herein.

Meanwhile, aiming at the application scene of the single execution equipment with multiple plots, the safety area containing all plots to be operated and the current starting point can be determined through the plot boundary and the current starting point of each plot to be operated, and the safety area is used for planning the round trip path corresponding to each task.

Therefore, referring to fig. 11, fig. 11 is a schematic flow chart of job safety area generation according to an embodiment of the present application. The job safety area generation method is applied to unmanned equipment and can comprise the following steps:

s201, obtaining the land parcel boundary of each of a plurality of land parcels to be operated and the position of the current starting point of unmanned equipment.

S202, based on the land parcel boundary of each land parcel to be operated and the position of the current starting point, a safety area corresponding to the current starting point is obtained, wherein the safety area comprises all the land parcel to be operated and the current starting point, and the safety area is used for planning a round trip path between the current starting point and the land parcel to be operated.

Step S202 is described in detail below.

As a possible implementation manner, the process of obtaining the safety area corresponding to the current starting point in step S202 based on the land parcel boundary of each land parcel to be worked and the position of the current starting point may include:

s202a, generating a convex hull containing all the plots to be operated according to the plot boundary of each plot to be operated and the position of the current starting point;

S202b, expanding the convex hull outwards to set a safety distance so as to contain the current starting point, and obtaining a safety area.

For example, as shown in fig. 12, when the number of the plots to be worked is three, and the secondary working path is from a to B, a convex hull may be generated according to the location of the plot boundary and the starting point of each plot to be worked, and the process of generating the convex hull is similar to that of generating the initial convex hull in step S102a, which is not repeated here.

Then, as in step S102a, since the starting point cannot actually be just one point, but is an area, in order to ensure the safety of the unmanned device, the convex hull is expanded to set a safety distance to include the starting point, so that a safety area can be obtained.

As another possible implementation manner, the process of obtaining the safety area corresponding to the current starting point in step S202 based on the land parcel boundary of each land parcel to be worked and the position of the current starting point may include:

S2021, generating an initial safety area according to the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the initial safety area comprises all the land parcel to be operated and the current starting point.

S2022, it is determined whether the initial security area is secure.

In this embodiment, if a second initial secure enclave security is detected, sub-step S1113 is performed; if the second initial secure area is detected as not secure, step S1114 is performed.

S2023, if it is determined that the initial security area is secure, the initial security area is taken as the second security area.

S2024, if the initial safety area is determined to be unsafe, processing the initial safety area to obtain a safety area.

The process of generating the initial security area in S2021 is similar to the process of generating the security area in S202a to S102b, and detailed implementation may be referred to the description of the foregoing embodiments, which is not repeated here. The process of processing the initial security area to obtain the security area in S2024 is similar to the process of processing the initial security area to obtain the security area in S1024, and detailed implementation may be referred to the description of the foregoing embodiments, which is not repeated here.

In one possible scenario, there may be multiple unmanned devices, i.e., a plurality of unmanned devices are utilized to work a lot of work, i.e., a situation where multiple devices are executed in one place. Since the starting point of each unmanned device may be different, the application scenario is the biggest difference from the two application scenarios, in that a security area corresponding to each unmanned device needs to be generated, and the security areas corresponding to the unmanned devices need to be independent and cannot be intersected.

Therefore, referring to fig. 13, fig. 13 is a schematic flow chart of job safety area generation according to an embodiment of the present application. The job safety area generation is applied to unmanned equipment, and can comprise the following steps:

s301, acquiring a working path and a current starting point position of each unmanned device in the plurality of unmanned devices for executing the current task in the to-be-worked block.

S302, obtaining a target safety area corresponding to each unmanned equipment based on the corresponding operation path and the current starting point position of each unmanned equipment, wherein the target safety area comprises the corresponding current starting point of the unmanned equipment.

S303, obtaining a target safety area corresponding to each unmanned equipment based on the corresponding operation path and the current starting point position of each unmanned equipment, wherein the target safety area comprises the corresponding current starting point of the unmanned equipment. And S304, when no intersection exists between each target safety area, each target safety area is used as the safety area of the corresponding unmanned equipment.

In step S302, for each unmanned device, the method described in steps S101 to S102 may be used to generate a target security area corresponding to each unmanned device.

After generating the target security areas corresponding to each unmanned device, judging whether intersection exists among the target security areas. If no intersection exists between each target safety area, the target safety area is the final safety area. If the intersection exists among the plurality of target safety areas, adjusting the range of at least one target safety area with the intersection so that the intersection does not exist among each target safety area, and obtaining a final safety area.

Meanwhile, if the intersection still exists between the adjusted target security areas, corresponding auxiliary points are added for each unmanned device to generate disjoint security channels, and the process of generating the security channels is similar to that in S10244-S10245, and detailed implementation can be seen from the description of the foregoing embodiments, which is not repeated here.

The embodiment of the application also provides a path planning method, please refer to fig. 14, fig. 14 shows a flow diagram of the path planning method provided by the embodiment of the application, and the path planning method is applied to unmanned equipment and can comprise the following steps:

S401, acquiring a safety area of unmanned equipment at a place to be worked. The security area may be generated by S101 to S102, S201 to S202, or S301 to S304 described in the foregoing embodiments.

S402, planning a round trip path between a current starting point corresponding to a current task of the unmanned equipment and a land block to be worked in a safety area.

S403, controlling the unmanned equipment to enter the to-be-operated land block or return from the to-be-operated land block along the round trip path.

S404, in the process that the unmanned equipment moves along the round trip path, the obstacle information in the detection range of the detection equipment is acquired through the detection equipment carried by the unmanned equipment.

Wherein the detecting device can detect the obstacle information on the round trip path and around the round trip path, and the detecting device can detect the obstacle information as long as the obstacle information is in the detecting range of the detecting device.

S405, updating the safety area according to the obstacle information to obtain the safety area which does not contain the obstacle corresponding to the obstacle information.

In this embodiment, the information of the obstacle detected by the unmanned device entering the to-be-operated land is directly used as the basis for updating the safety area, so that no additional detection process is needed, and the program can be reduced.

It should be noted that, when executing each task, the information of the obstacle detected between the current starting point corresponding to the task and the land to be worked may be obtained, and then the safety area may be updated after entering the land to be worked each time or after returning from the land to be worked each time.

In order to execute the corresponding steps in the above method embodiments and each possible implementation manner, an implementation manner applied to the job safety area generating device and the path planning device is given below.

Referring to fig. 15, fig. 15 is a block diagram illustrating a job safety area generation apparatus 100 according to an embodiment of the present application. The job safety area generation apparatus 100 is applied to unmanned equipment, and includes: a first acquisition module 101 and a processing module 102.

In one possible implementation, the first obtaining module 101 is configured to obtain a job path of the unmanned device for performing the current task in the to-be-worked parcel, and a location of a current starting point of the unmanned device.

The processing module 102 is configured to obtain a safe area corresponding to the current task based on the job path and the position of the current starting point, where the safe area includes the current starting point, and the safe area is configured to plan a round trip path between the current starting point and the land parcel to be worked.

Optionally, the first obtaining module 101 performs a manner of obtaining a job path of the unmanned device for performing the current task in the to-be-worked parcel, including: acquiring a global operation path and historical operation data of unmanned equipment in a to-be-operated land block; calculating maximum endurance information of unmanned equipment according to the historical operation data; and determining a job path corresponding to the current task from the global job paths according to the maximum cruising information.

Optionally, the processing module 102 is specifically configured to: generating an initial convex hull containing all the waypoints according to the position of each waypoint and the position of the current starting point; expanding the initial convex hull to set a safety distance so as to contain the current starting point, and obtaining a target convex hull; calculating a geometric difference set of the target convex hull and the land block to be operated to obtain at least one geometric region; and taking the geometric area containing the current starting point in the at least one geometric area as a safety area.

Optionally, the processing module 102 is specifically configured to: generating an initial safety area according to the operation path and the position of the current starting point, wherein the initial safety area comprises the current starting point; determining whether the initial security area is secure; if yes, the initial safety area is used as a safety area; if not, the initial safety area is processed to obtain the safety area.

Optionally, the processing module 102 performs a manner of processing the initial secure area to obtain the secure area, including: determining a dangerous area from the initial safe area according to a first operation in response to the first operation in the initial safe area; and deleting the dangerous area from the initial safe area to obtain the safe area.

Optionally, the processing module 102 performs a manner of processing the initial secure area to obtain the secure area, including: and responding to a second operation in the initial safety area, and adjusting the range of the initial safety area according to the second operation so as to enable the dangerous area to be outside the initial safety area and obtain the safety area.

Optionally, the processing module 102 performs a manner of processing the initial secure area to obtain the secure area, including: responding to a third operation in the initial safety area, and adding an auxiliary point in the initial safety area according to the third operation; and generating a safety area according to the connecting line of the auxiliary point and the current starting point, wherein the safety area comprises an entering safety channel and a returning safety channel.

Optionally, the unmanned device is equipped with a detection device; the processing module 102 performs a manner of processing the initial secure enclave to obtain the secure enclave, including: acquiring obstacle information obtained by detection of unmanned equipment in an initial safety area; and adjusting the initial safety area according to the obstacle information to generate a safety area which does not contain the obstacle corresponding to the obstacle information.

Optionally, the processing module 102 is further configured to: judging whether the current task is a first task or not; when the current task is the first task, executing a process based on the position of the operation path and the current starting point to obtain a safety area corresponding to the current task; when the current task is not the first task, the safety area corresponding to the first task is obtained, and the safety area corresponding to the current task is obtained based on the current starting point and the safety area corresponding to the first task.

Optionally, the processing module 102 performs a process of obtaining a security area corresponding to the current task based on the current starting point and the security area corresponding to the first task, including: judging whether the current starting point is in a safety area corresponding to the first task or not; if yes, taking the safety area corresponding to the first task as the safety area corresponding to the current task; if not, executing a process of obtaining a safety area corresponding to the current task based on the position of the operation path and the current starting point.

In another possible implementation manner, the first obtaining module 101 is configured to obtain a parcel boundary of each parcel to be worked and a location of a current starting point of the unmanned device.

The processing module 102 is configured to obtain a safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be worked and the position of the current starting point, where the safety area includes all the land parcel to be worked and the current starting point, and the safety area is used for planning a round trip path between the current starting point and the land parcel to be worked.

Optionally, the processing module 102 is specifically configured to: generating a convex hull containing all the plots to be operated according to the plot boundaries of each plot to be operated and the positions of the current starting points; and expanding the convex hull to set a safety distance so as to contain the current starting point, and obtaining a safety area.

Optionally, the processing module 102 is specifically configured to: generating an initial safety area according to the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the initial safety area comprises all the land parcel to be operated and the current starting point; determining whether the initial security area is secure; if yes, the initial safety area is used as a safety area; if not, the initial safety area is processed to obtain the safety area.

In yet another possible implementation manner, the first obtaining module 101 is configured to obtain a position of a current starting point and a job path of each of the plurality of unmanned devices for executing the current task in the to-be-worked parcel.

The processing module 102 is configured to obtain a target security area corresponding to each unmanned device based on a corresponding job path and a current start point position of each unmanned device, where the target security area includes the corresponding current start point of the unmanned device; and obtaining a target safety area corresponding to each unmanned equipment based on the corresponding operation path and the current starting point position of each unmanned equipment, wherein the target safety area comprises the corresponding current starting point of the unmanned equipment.

Optionally, the processing module 102 is further configured to: and when no intersection exists between each target safety area, taking each target safety area as the safety area of the corresponding unmanned equipment.

Referring to fig. 16, fig. 16 is a block diagram illustrating a path planning apparatus 200 according to an embodiment of the application. The path planning apparatus 200 is applied to an unmanned device, and includes: a second acquisition module 201 and a path planning module 202.

A second obtaining module 201, configured to obtain a safe area of the unmanned device at the to-be-worked land parcel. The security area may be generated by S101 to S102, S201 to S202, or S301 to S304 described in the foregoing embodiments.

The path planning module 202 is configured to plan, in the safe area, a round trip path between a current starting point corresponding to a current task of the unmanned device and the land parcel to be worked.

Optionally, the path planning module 202 is further configured to: controlling unmanned equipment to enter a land block to be operated or return from the land block to be operated along a round trip path; in the process that the unmanned equipment moves along the reciprocating path, the detection equipment carried by the unmanned equipment acquires obstacle information in the detection range of the detection equipment; and updating the safety area according to the obstacle information to obtain the safety area which does not contain the obstacle corresponding to the obstacle information.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the job safety area generating apparatus 100 and the path planning apparatus 200 described above may refer to the corresponding processes in the foregoing method embodiments, and are not repeated herein.

Referring to fig. 17, fig. 17 is a block schematic diagram of the unmanned device 10 according to the embodiment of the application. The unmanned device 10 may be an unmanned plane, an unmanned vehicle, a cotton field machine, an agricultural machine, or the like. The unmanned device 10 includes a processor 11, a memory 12, and a bus 13, and the processor 11 is connected to the memory 12 via the bus 13.

The memory 12 is used for storing a program, for example, the job safety area generating apparatus 100 shown in fig. 15 or the path planning apparatus 200 shown in fig. 16, where the job safety area generating apparatus 100 or the path planning apparatus 200 includes at least one software function module that may be stored in the memory 12 in the form of software or firmware (firmware), and the processor 11 executes the program after receiving an execution instruction to implement the job safety area generating method or the path planning method disclosed in the above embodiment.

The memory 12 may include a high-speed random access memory (Random Access Memory, RAM) and may also include a non-volatile memory (NVM).

The processor 11 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 11 or by instructions in the form of software. The processor 11 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a micro control unit (Microcontroller Unit, MCU), a complex programmable logic device (Complex Programmable Logic Device, CPLD), a field programmable gate array (Field Programmable GATE ARRAY, FPGA), an embedded ARM, and the like.

The embodiment of the application also provides a multi-machine cooperation system, which comprises a plurality of unmanned equipment 10, wherein the unmanned equipment 10 passes between the starting point and the land to be operated and executes tasks in the land to be operated through the corresponding safety areas. The security area corresponding to each unmanned device 10 may be generated by S101 to S102, S201 to S202, or S301 to S304 described in the foregoing embodiments.

The embodiment of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by the processor 11, implements the job safety area generation method or the path planning method disclosed in the above embodiment.

In summary, in the method for generating a safe area for a job, the method for planning a path and the related device provided by the embodiments of the present application, under the condition of no high-definition map, the safe area corresponding to the current task is determined by the unmanned device executing the job path of the current task and the position of the current starting point of the unmanned device in the to-be-worked block, and the safe area includes the current starting point and can be used for planning the round trip path between the current starting point and the to-be-worked block. On the one hand, the round trip path is in the safety area, so that the safety of the unmanned equipment can be ensured; on the other hand, the round trip path does not need to pass through a safety point, so that the path length is effectively reduced; therefore, safe and efficient running of unmanned equipment between the current starting point and the land block to be operated is realized, and the operation efficiency is improved.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A job safety area generation method, the method comprising:

acquiring a working path of unmanned equipment for executing a current task in a to-be-worked block and a position of a current starting point of the unmanned equipment;

Based on the operation path and the position of the current starting point, a safety area corresponding to the current task is obtained, wherein the safety area comprises the current starting point, and the safety area is used for planning a round trip path between the current starting point and the land block to be operated;

The job path includes at least one waypoint;

the step of obtaining the safety area corresponding to the current task based on the job path and the position of the current starting point comprises the following steps:

Generating an initial convex hull containing all the waypoints according to the position of each waypoint and the position of the current starting point;

expanding the initial convex hull outwards to set a safety distance so as to contain the current starting point, and obtaining a target convex hull;

calculating a geometric difference set of the target convex hull and the land block to be operated to obtain at least one geometric region;

and taking the geometric area containing the current starting point in the at least one geometric area as the safety area.

2. The method of claim 1, wherein the step of obtaining the safe area corresponding to the current task based on the job path and the location of the current start point comprises:

generating an initial safety area according to the operation path and the position of the current starting point, wherein the initial safety area comprises the current starting point;

Determining whether the initial secure area is secure;

if yes, the initial safety area is used as the safety area;

If not, the initial safety area is processed to obtain the safety area.

3. The method of claim 2, wherein the step of processing the initial secure area to obtain the secure area comprises:

determining a dangerous area from the initial safe area according to a first operation in response to the first operation in the initial safe area;

And deleting the dangerous area from the initial safe area to obtain the safe area.

4. The method of claim 2, wherein the step of processing the initial secure area to obtain the secure area comprises:

And responding to a second operation in the initial safety area, and adjusting the range of the initial safety area according to the second operation so as to enable the dangerous area to be outside the initial safety area, thereby obtaining the safety area.

5. The method of claim 2, wherein the step of processing the initial secure area to obtain the secure area comprises:

Responding to a third operation in the initial safety area, and adding an auxiliary point in the initial safety area according to the third operation;

and generating the safety area according to the connecting line of the auxiliary point and the current starting point, wherein the safety area comprises an entering safety channel and a returning safety channel.

6. The method of claim 2, wherein the unmanned device is onboard a detection device;

The step of processing the initial security area to obtain the security area includes:

acquiring obstacle information obtained by the unmanned equipment in the initial safety area;

And adjusting the initial safety area according to the obstacle information to generate the safety area which does not contain the obstacle corresponding to the obstacle information.

7. The method of claim 1, wherein the step of acquiring the job path for the unmanned device to perform the current task in the parcel to be worked comprises:

Acquiring a global operation path and historical operation data of the unmanned equipment in the to-be-operated land block;

calculating maximum endurance information of the unmanned equipment according to the historical operation data;

And determining a job path corresponding to the current task from the global job paths according to the maximum endurance information.

8. The method of claim 1, wherein after the step of obtaining a job path for the unmanned device to perform the current task in the parcel to be worked, and a location of a current starting point of the unmanned device, the method further comprises:

judging whether the current task is a first task or not;

When the current task is the first task, executing the position based on the job path and the current starting point to obtain a safety area corresponding to the current task;

when the current task is not the first task, the safety area corresponding to the first task is obtained, and the safety area corresponding to the current task is obtained based on the current starting point and the safety area corresponding to the first task.

9. The method of claim 8, wherein the step of obtaining the safe area corresponding to the current task based on the current start point and the safe area corresponding to the first task comprises:

Judging whether the current starting point is in the safety area corresponding to the first task or not;

if yes, the safety area corresponding to the first task is used as the safety area corresponding to the current task;

And if not, executing the step of obtaining the safety area corresponding to the current task based on the operation path and the position of the current starting point to obtain the safety area corresponding to the current task.

10. A job safety area generation method, the method comprising:

obtaining a land block boundary of each of a plurality of land blocks to be operated and a position of a current starting point of unmanned equipment;

obtaining a safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the safety area comprises all the land parcel to be operated and the current starting point, and the safety area is used for planning a round trip path between the current starting point and the land parcel to be operated;

The step of obtaining a safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be worked and the position of the current starting point comprises the following steps:

generating a convex hull containing all the plots to be operated according to the plot boundaries of each plot to be operated and the positions of the current starting points;

And expanding the convex hull to set a safety distance so as to contain the current starting point, and obtaining the safety area.

11. The method of claim 10, wherein the step of obtaining the safe area corresponding to the current starting point based on the location of the current starting point and the parcel boundary of each parcel to be worked on comprises:

Generating an initial safety area according to the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the initial safety area comprises all the land parcel to be operated and the current starting point;

Determining whether the initial secure area is secure;

if yes, the initial safety area is used as the safety area;

If not, the initial safety area is processed to obtain the safety area.

12. A job safety area generation method, the method comprising:

Acquiring a working path and a current starting point position of each unmanned device in a plurality of unmanned devices for executing a current task in a to-be-worked block;

Obtaining a target safety area corresponding to each unmanned equipment based on the corresponding operation path and the current starting point position of each unmanned equipment, wherein the target safety area comprises the corresponding current starting point of the unmanned equipment;

When an intersection exists among a plurality of target safety areas, adjusting the range of at least one target safety area with the intersection until each target safety area is disjoint, so as to obtain a safety area corresponding to each unmanned equipment; the safety area is used for planning a corresponding round trip path between the current starting point and the land block to be operated.

13. The method of claim 12, wherein the method further comprises:

and when no intersection exists between each target safety area, taking each target safety area as the safety area of the corresponding unmanned equipment.

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

Acquiring a safety area of unmanned equipment at a land block to be operated; the secure area is generated by the method of any one of claims 1-13;

And planning a round trip path between the current starting point corresponding to the current task of the unmanned equipment and the land block to be worked in the safety area.

15. The method of claim 14, wherein the method further comprises:

controlling the unmanned equipment to enter the to-be-operated land block or return from the to-be-operated land block along the round trip path;

in the process that the unmanned equipment moves along the round trip path, acquiring obstacle information in a detection range of the detection equipment through the detection equipment carried by the unmanned equipment;

And updating the safety area according to the obstacle information to obtain the safety area which does not contain the obstacle corresponding to the obstacle information.

16. A job safety area generating apparatus, the apparatus comprising:

The first acquisition module is used for acquiring a working path of the unmanned equipment for executing the current task in the to-be-worked block and the position of the current starting point of the unmanned equipment;

The processing module is used for obtaining a safety area corresponding to the current task based on the positions of the working path and the current starting point, wherein the safety area comprises the current starting point, and the safety area is used for planning a round-trip path between the current starting point and the land block to be worked;

the job path includes at least one waypoint; the processing module is specifically configured to:

17. A job safety area generating apparatus, the apparatus comprising:

The first acquisition module is used for acquiring the land parcel boundary of each of a plurality of land parcels to be operated and the position of the current starting point of unmanned equipment;

The processing module is used for obtaining a safety area corresponding to the current starting point based on the land parcel boundary of each land parcel to be operated and the position of the current starting point, wherein the safety area comprises all the land parcel to be operated and the current starting point, and the safety area is used for planning a round trip path between the current starting point and the land parcel to be operated;

the processing module is specifically configured to:

18. A job safety area generating apparatus, the apparatus comprising:

The first acquisition module is used for acquiring a working path and a current starting point position of each unmanned equipment in the plurality of unmanned equipment for executing the current task in the to-be-worked block;

a processing module for:

19. A path planning apparatus, the apparatus comprising:

the second acquisition module is used for acquiring a safety area of the unmanned equipment at the to-be-operated land block; the secure area is generated by the method of any one of claims 1-13;

and the path planning module is used for planning a round trip path between the current starting point corresponding to the current task of the unmanned equipment and the land block to be worked in the safety area.

20. An unmanned device, the unmanned device comprising:

One or more processors;

A memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the job safety area generation method of any of claims 1-13, or the path planning method of any of claims 14-15.

21. The multi-machine cooperation system is characterized by comprising a plurality of unmanned equipment, wherein the unmanned equipment passes between a starting point and a land block to be operated through a corresponding safety area and executes tasks in the land block to be operated;

Wherein the secure area for each of the unmanned devices is generated by the method of any of claims 12-13.

22. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the job safety area generation method according to any one of claims 1 to 13, or the path planning method according to any one of claims 14 to 15.