CN114459480A

CN114459480A - Operation safety region generation method, path planning method and related device

Info

Publication number: CN114459480A
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: 2022-05-10
Anticipated expiration: 2041-12-03
Also published as: CN114459480B

Abstract

The embodiment of the application relates to the technical field of path planning, and provides an operation safety region generation method, a path planning method and a related device. On one hand, the safety of the unmanned equipment can be ensured because the round-trip path is in a safety area; on the other hand, the round-trip path does not need to pass through a safety point, so the path length is effectively reduced; therefore, the unmanned equipment can safely and efficiently travel between the current starting point and the land to be operated, and the operation efficiency is improved.

Description

Operation safety region generation method, path planning method and related device

Technical Field

The embodiment of the application relates to the technical field of path planning, in particular to a method for generating an operation safety region, a method for planning a path and a related device.

Background

During operation, the unmanned device inevitably travels from a specific starting point (e.g., a point of ascent and descent of the unmanned aerial vehicle) to the plot and returns from the plot to the starting point. In order to ensure the safety of the unmanned equipment, the high-definition map is used for identifying the obstacles, and then an entering path and a returning path are planned for the unmanned equipment according to the obstacles.

However, without a high-definition map, the safety of the unmanned device traveling between the starting point and the plot cannot be guaranteed.

In order to solve the problem, in the prior art, safety points are generally used to ensure the safety of the unmanned equipment, but the unmanned equipment must pass through the safety points when traveling between a starting point and a land, so that the unmanned equipment may have many invalid paths, and the work efficiency may be affected.

Disclosure of Invention

An object of the embodiments of the present application is to provide a method for generating an operation safety region, a method for planning a path, and a related device, so as to enable an unmanned device to safely travel between a starting point and a parcel without a safety point without a high definition map, and achieve high operation efficiency.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, an embodiment of the present application provides a method for generating a work safety area, where the method includes: acquiring a work path of the unmanned equipment for executing the current task in a to-be-worked plot and the position of the 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 parcel to be operated.

Optionally, the work path comprises at least one waypoint; 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 includes: 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 safe distance to include the current starting point to obtain a target convex hull; calculating a geometric difference set of the target convex hull and the land parcel to be operated to obtain at least one geometric area; and taking the geometric area containing the current starting point in the at least one geometric area as the safe area.

Optionally, the step of obtaining a safety area corresponding to the current task based on the operation 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 so, taking the initial security area as the security area; and if not, processing the initial security area to obtain the security area.

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

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

Optionally, the step of processing the initial secure area to obtain the secure 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 connection 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 secure area to obtain the secure area includes: acquiring obstacle information obtained by detecting the unmanned equipment in the initial safety area; and adjusting the initial safety region according to the obstacle information to generate the safety region which does not contain the obstacle corresponding to the obstacle information.

Optionally, the step of obtaining a work path of the unmanned device executing the task in the place to be worked includes: acquiring a global job path and historical job data of the unmanned equipment in the to-be-operated plot; calculating the maximum cruising information of the unmanned equipment according to the historical operation data; and determining an operation path corresponding to the current task in the global operation path according to the maximum cruising information.

Optionally, after the step of obtaining the work path of the unmanned aerial vehicle for performing the current task in the to-be-worked plot and the position of the current starting point of the unmanned aerial vehicle, the method further includes: judging whether the current task is a first task or not; when the current task is a first task, executing the position based on the operation path and the current starting point to obtain a safety area corresponding to the current task; and when the current task is not the first task, acquiring the safety region corresponding to the first task, and acquiring the safety region corresponding to the current task based on the current starting point and the safety region corresponding to the first task.

Optionally, the step of obtaining the safety area corresponding to the current task based on the current starting point and the safety 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 so, taking the safety zone corresponding to the first task as the safety zone 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 so as to obtain the safety area corresponding to the current task.

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

Optionally, the step of obtaining a safety region corresponding to the current starting point based on the parcel boundary of each 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 boundary of each plot to be operated and the position of the current starting point; and setting a safety distance for the convex hull to include the current starting point to obtain the safety region.

Optionally, the step of obtaining a safety region corresponding to the current starting point based on the parcel boundary of each parcel to be worked and the position of the current starting point includes: generating an initial safety area according to the plot boundary of each plot to be operated and the position of the current starting point, wherein the initial safety area comprises all the plots to be operated and the current starting point; determining whether the initial secure area is secure; if so, taking the initial security area as the security area; and if not, processing the initial security area to obtain the security area.

In a third aspect, an embodiment of the present application further provides a method for generating a work safety area, where the method includes: acquiring a work path of each unmanned device in the plurality of unmanned devices for executing the current task in the to-be-worked plot and the position of the current starting point; obtaining a target safety region corresponding to each unmanned device based on the operation path corresponding to each unmanned device and the position of the current starting point, wherein the target safety region comprises the current starting point of the corresponding unmanned device; when intersections exist among the target safety regions, adjusting the range of at least one target safety region with the intersections until each target safety region is not intersected so as to obtain a safety region corresponding to each unmanned device; and the safety area is used for planning a round-trip path between the corresponding current starting point and the land parcel to be operated.

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

In a fourth aspect, an embodiment of the present application further provides a path planning method, where the method includes: acquiring a safety region of the unmanned equipment at a to-be-operated land; the security zone is generated by the method of the first aspect, 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 parcel to be operated in the safety area.

Optionally, the method further comprises: controlling the unmanned equipment to enter or return from the land to be worked along the reciprocating path; acquiring obstacle information in a detection range of a detection device carried by the unmanned device in the process that the unmanned device travels along the reciprocating path; and updating the safety region according to the obstacle information to obtain a safety region which does not contain the obstacle corresponding to the obstacle information.

In a fifth aspect, an embodiment of the present application further provides an operation safety area generating device, where the device includes: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a work path of the unmanned equipment for executing a current task in a to-be-worked plot and the position of a current starting point of the unmanned equipment; and the processing module is used for 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 the safety area is used for planning a round-trip path between the current starting point and the plot to be operated.

In a sixth aspect, an embodiment of the present application further provides an operation safety area generating device, where the device includes: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the plot boundary of each plot to be operated in a plurality of plots to be operated and the position of the current starting point of the unmanned equipment; and the processing module is used for obtaining a safety region corresponding to the current starting point based on the block boundary of each block to be operated and the position of the current starting point, wherein the safety region comprises all the blocks to be operated and the current starting point, and the safety region is used for planning a back-and-forth path between the current starting point and the block to be operated.

In a seventh aspect, an embodiment of the present application further provides a device for generating a work safety area, where the device includes: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a work path of each unmanned device in a plurality of unmanned devices for executing a current task in a to-be-worked plot and a position of a current starting point; a processing module to: obtaining a target safety region corresponding to each unmanned device based on the operation path corresponding to each unmanned device and the position of the current starting point, wherein the target safety region comprises the current starting point of the corresponding unmanned device; when intersections exist among the target safety regions, adjusting the range of at least one target safety region with the intersections until each target safety region is not intersected so as to obtain a safety region corresponding to each unmanned device; and the safety area is used for planning a round-trip path between the corresponding current starting point and the land parcel 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 region of the unmanned equipment at the place to be operated; the security zone is generated by the method of the first aspect, 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 parcel to be operated in the safety area.

In a ninth aspect, an embodiment of the present application further provides an unmanned device, where the unmanned device includes: one or more processors; 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 method for generating a work safety area in the first aspect, the second aspect, or the third aspect, or the method for path planning in the fourth aspect.

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

In an eleventh aspect, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for generating a work safety area in the first aspect, the second aspect, or the third aspect, or the method for planning a path in the fourth aspect.

Compared with the prior art, the operation safety region generation method, the path planning method and the related device provided by the embodiment of the application determine the safety region corresponding to the current task by the operation path of the current task executed by the unmanned equipment in the to-be-operated plot and the position of the current starting point of the unmanned equipment under the condition of no high-definition map, wherein the safety region 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 one hand, the safety of the unmanned equipment can be ensured because the back-and-forth path is in a safety area; on the other hand, the round-trip path does not need to pass through a safety point, so the path length is effectively reduced; therefore, the unmanned equipment can safely and efficiently travel between the current starting point and the land to be operated, and the operation efficiency is improved.

Drawings

Fig. 1 shows a diagram of an application example of the prior art.

Fig. 2 shows a first flowchart of a method for generating a work safety area according to an embodiment of the present application.

Fig. 3 is a first application example diagram illustrating a method for generating a job security area according to an embodiment of the present application.

Fig. 4 shows an application example of a method for generating a job security area according to an embodiment of the present application, which is shown in fig. two.

Fig. 5 shows a third application example of the method for generating the work safety area according to the embodiment of the present application.

Fig. 6 shows an application example of a method for generating a job security area according to an embodiment of the present application, which is shown in fig. four.

Fig. 7 is a diagram illustrating an application example of a method for generating a job security area according to an embodiment of the present application.

Fig. 8 shows an application example of a method for generating a job security area according to an embodiment of the present application, and fig. six is a diagram.

Fig. 9 shows a second flowchart of a method for generating a work security area according to an embodiment of the present application.

Fig. 10 shows a third flowchart of a method for generating a job security area according to an embodiment of the present application.

Fig. 11 shows a fourth flowchart of a method for generating a job security area according to an embodiment of the present application.

Fig. 12 shows an application example of the method for generating the operation security area according to the embodiment of the present application, which is illustrated in fig. seven.

Fig. 13 shows a fifth flowchart of a method for generating a job security area according to an embodiment of the present application.

Fig. 14 shows a sixth flowchart of a path planning method provided in the embodiment of the present application.

Fig. 15 is a block diagram illustrating a work secure area generation apparatus according to an embodiment of the present application.

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

Fig. 17 shows a block schematic diagram of an unmanned aerial device provided by an embodiment of the present application.

Icon: 100-a work secure area generating means; 101-a first acquisition module; 102-a processing module; 200-a path planning device; 201-a second obtaining module; 202-a path planning module; 10-unmanned equipment; 11-a processor; 12-a 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.

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

In general, the process of setting the safe point may be: firstly, finding out the shortest straight line from the starting point of the unmanned equipment to the boundary of the land parcel, as shown in fig. 1; then, finding out a first intersection point of the shortest straight line and the land parcel, such as an M point in the figure 1; and then, moving the first intersection point to a set distance into the land parcel, wherein the set distance can be the width of the unmanned equipment in order to ensure the safety of the unmanned equipment, and a safety point can be obtained, as shown in fig. 1. Alternatively, the safety point may be set manually and empirically, without any limitation.

However, because of the safety point setting, the unmanned aerial vehicle must pass through the safety point both when traveling from the starting point to the plot and when returning from the plot to the starting point. For example, in fig. 1, point a and point B are the starting point and the end point of the primary operation path of the unmanned aerial vehicle, respectively, and when the unmanned aerial vehicle moves from the starting point to point a, it must first move to point M, and then move from point M to point a; similarly, when the unmanned device returns to the starting point from the point B, the unmanned device must return to the point M first and then return to the starting point from the point M.

Obviously, this may cause the unmanned device to have many invalid paths, which may affect the operation efficiency of the unmanned device.

In order to solve the problem, in the embodiment of the application, under the condition of no high-definition map, a safe area corresponding to the current task is determined through a current operation path and a current starting point, wherein the safe area comprises the current starting point and can be used for planning a round-trip path between the current starting point and a land block to be operated, so that on one hand, the safety of the unmanned equipment can be ensured, on the other hand, the path length is effectively reduced, the unmanned equipment can be ensured to safely and efficiently travel between the current starting point and the land block to be operated, and the operation efficiency is improved. As described in detail below.

Unmanned equipment in this application embodiment can be unmanned aerial vehicle, also can be unmanned car, cotton field machine, agricultural machinery etc.. The user may select different devices according to the actual application scenario, which is not limited herein. The following embodiments are described with respect to a drone as an example.

Referring to fig. 2, fig. 2 is a schematic flow chart illustrating the generation of the operation security area according to the embodiment of the present disclosure. The operation safety region generation is applied to the unmanned equipment, and comprises the following steps:

s101, acquiring a work path of the unmanned equipment for executing the current task in the to-be-worked plot and the position of the current starting point of the unmanned equipment.

In practice, due to the size of the land, the cruising ability of the unmanned aerial vehicle, the amount of portable medicine, and the like, the unmanned aerial vehicle may perform multiple operations in the land, and the operation path of each operation may be different, and meanwhile, the starting point of the unmanned aerial vehicle may also be changed during multiple operations, for example, the unmanned aerial vehicle is manually moved to a charging point for charging, and the unmanned aerial vehicle takes off from the charging point after charging is completed.

Therefore, the present embodiment will be described by taking as an example a single operation of the unmanned aerial vehicle in the land to be worked.

In this embodiment, a global operation path of the unmanned aerial vehicle may be planned in the to-be-operated plot in advance, and then the current operation path of the unmanned aerial vehicle may be determined from the global operation path by combining with the actual scene. For example, the current operation path can be obtained by taking the end point of the previous task as the start point of the current task and estimating the end point of the current task according to the actual cruising ability of the unmanned equipment.

As an embodiment, the process of acquiring the job path of the unmanned equipment executing the task in the to-be-worked place in step S101 may include:

and acquiring a global job path and historical job data of the unmanned equipment in the land to be worked.

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

And according to the maximum cruising information, determining an operation path corresponding to the current task in the overall operation paths.

The historical job data may be various items of data of the unmanned device performing historical tasks in the land to be worked, such as electric quantity, medicine quantity, job parameters, and the like. The operation parameters can be model, speed, height, row spacing, mu spraying amount and the like. The maximum cruising information may be a maximum cruising distance, a maximum cruising time, or the like, at which the unmanned equipment performs the current task.

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

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

After the maximum cruising distance or the maximum cruising time is calculated, the current operation path, namely the operation path of the unmanned equipment for executing the current task, can be determined from the overall operation paths of the to-be-operated land block according to the maximum cruising distance or the maximum cruising time. For example, as shown in fig. 3, point a is the starting 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 portion from a to B in the global job path.

And S102, 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 a land to be operated.

The safety area may be a safety area between a current starting point of the unmanned aerial device and the parcel to be worked, and the safety area includes the current starting point of the unmanned aerial device. The safety area can ensure the safety of the unmanned equipment in any traveling process, 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 to be operated is planned at will in the safety area.

In this embodiment, the round-trip path may include an entry path for the unmanned aerial vehicle to travel to the land to be worked, and a return path for the unmanned aerial vehicle to leave the land to be worked. The entry path may be planned according to a current start point position and a start point position of the job path, and the return path may be planned according to a current start point position and an end point position of the job path.

Step S102 will be described in detail below.

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

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

s102b, expanding the initial convex hull to set a safe distance to include the current starting point, and obtaining a target convex hull;

s102c, calculating a geometric difference set of the target convex hull and the land to be operated to obtain at least one geometric area;

s102d, regarding the geometric area including the current start point in the at least one geometric area as a safety area.

For example, as shown in fig. 4(a), when the secondary working path is from a to B, an initial convex hull including all waypoints may be generated by using a geometric convex hull algorithm according to the positions of the respective waypoints and the position of the start point on the secondary working path. That is, a point set is formed according to the position of each waypoint on the operation path and the position of the current starting point, and a minimum convex polygon capable of containing the point set is generated by using a geometric convex hull algorithm, wherein 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 is not described in detail herein.

Then, since the starting point may not be really only a point but an area, in order to ensure the safety of the unmanned device, as shown in fig. 4(b), the initial convex hull needs to be extended by a safety distance to obtain the target convex hull including the starting point. The set safe distance can be flexibly set by a user according to experience and actual scenes as long as the set safe distance can contain a starting point, and no limitation is imposed on the set safe distance.

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

If there is only one geometric area, the geometric area is the safety area, for example, if there is only one geometric area in fig. 4(c), the geometric area is taken as the safety area 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 land to be operated is an irregular figure, and after the secondary operation path covers the whole land to be operated to obtain the target convex hull, the geometric difference set between the land to be operated and the target convex hull is calculated, so as to obtain the geometric area 1 and the geometric area 2 as shown in fig. 5 (b).

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

After the safety area is obtained in the above manner, the safety area can be considered as safe and used for planning a round-trip path. However, in some scenarios, there may be some obstacles in the safety area, and therefore, in order to ensure the safety of the unmanned device, in some embodiments, it may be further determined whether the safety area is safe, for example, whether the safety area is safe is confirmed by a user, or the unmanned aerial vehicle is controlled to fly around the safety area to detect the safety of various positions in the safety area, and the like. If the safety is determined, the safety area is the final safety area; if the safety area is determined to be unsafe, the safety area needs to be adjusted according to obstacle information determined by a user or obstacle information detected by the unmanned aerial vehicle, and finally the safety area without the obstacles is obtained. The embodiment of the present application does not set any limit to this.

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

and S1021, 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.

S1022, it is determined whether the initial security area is secure.

S1023, if the initial security area is determined to be secure, the initial security area is taken as the security area.

And S1024, 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 secure area in S1021 is similar to the process of generating the secure area in S102 a-S102 d, and the detailed implementation can refer to the description of the foregoing embodiments, and is not repeated here. The process of processing the initial secure area to obtain the secure area in S1024 will be described in detail below.

In a possible implementation manner, the process of processing the initial secure area to obtain the secure area in S1024 may include S10241 to S10242.

S10241, in response to a first operation in the first initial safety region, a danger region is determined from the initial safety region according to the first operation.

S10242, delete the dangerous area from the initial safe area to obtain a safe area.

The first operation may be a user's box operation of a dangerous portion in the initial safe area. For example, if the initial safe area is unsafe, the user may frame the dangerous portion in the initial safe 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 frames out a danger zone in the first initial safety zone. Then, as shown in fig. 6(b), the dangerous area is deleted from the first initial safe area, and the safe area is obtained.

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

S10243, in response to the second operation in the initial safety region, adjusting a range of the initial safety region according to the second operation so that the dangerous region is outside the initial safety region to obtain a safety region.

The second operation may be a range adjustment operation of the initial security area by the user. For example, if the initial safe area is unsafe, the user may adjust the range of the initial safe area to avoid the hazardous area so that the hazardous area is not contained in the resulting safe 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, so as to obtain a final safety area.

In another possible implementation manner, if the environment of the initial safe area is complex, and includes many dangerous areas and complex situations, and a safe area that simultaneously considers both the operation efficiency and the safety cannot be obtained through the two manners, an auxiliary point may be added in the initial safe area, so as to generate a safe and efficient safe channel.

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

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

S10245, generating a safety area according to a connection line between 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, the auxiliary point added by the user is connected with the starting point to generate an entering security channel and a returning 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 line, and the current starting point, the auxiliary point and the end point of the current operation path are on one line.

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

It should be noted that the number of the auxiliary points is not limited to one, and if the secure channel formed by the connecting line of the added auxiliary point and the starting point is still insecure, the auxiliary point may be added to the secure channel to obtain the final secure channel.

Meanwhile, the entering safety channel and the returning safety channel are not strictly distinguished, and in practical application, when the unmanned equipment reaches the land to be operated from the current starting point, one of the two safety channels which is close to the starting point of the current operation path is used as the entering safety channel. Similarly, when the unmanned equipment returns to the current starting point from the land to be operated, one of the two safety channels close to the end point of the current operation path is used as a return safety channel. For example, unmanned aerial vehicle just gets into the plot from getting into the escape way, just breaks down and need return the journey, need not go to return the escape way this moment, and direct from getting into the escape way return the journey can.

In a possible situation, after the initial safety area is determined according to step S1021, a round-trip path can be directly planned in the initial safety area, and meanwhile, detection equipment such as a binocular camera, a radar, a sonar and the like which can detect whether the front area is safe is carried on the unmanned equipment. And then, in the process that the unmanned equipment travels along the reciprocating path, the safety of the front area can be detected through the detection equipment, if the front area is detected to be unsafe, the front area is used as a dangerous area, the reciprocating path is planned again, and the safety of the operation of the unmanned equipment is ensured.

In yet another possible implementation manner, the unmanned device is equipped with a detection device, such as a radar or a sonar, and the process of processing the initial safety region to obtain the safety region in S1024 may include S10246 to S10247.

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

and adjusting the initial safety region according to the obstacle information to generate a safety region which does not contain the obstacle corresponding to the obstacle information. That is, in addition to the three types of methods for processing the initial safety region into a safety region depending on the user operation, detection devices such as a radar and a sonar may be mounted on the unmanned device, and obstacle information in the initial safety region may be detected by the detection devices, and the initial safety region may be adjusted based on the detected obstacle information, thereby finally generating a safety region including no obstacle.

In one possible scenario, the starting point of each job may be the same or different among the 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 S10 b.

And S10a, judging whether the current task is the first task.

The first task is a task in which the unmanned equipment performs operation for the first time in a task which can be completed by the unmanned equipment after multiple operations. In the present embodiment, if the current task is the first task, step S102 is executed; 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 a 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 operations, before each operation, it may be determined whether the current task is the first task, and if the current task is the first task, the security area corresponding to the first task is generated according to the method introduced in step S102; if the task is not the first-time task, determining a safety region corresponding to the current task according to the current starting point and the safety region corresponding to the first-time task.

Step S10b is described in detail below. Referring to FIG. 10, the step S10b may include steps S10b-1 to S10b-2 based on FIG. 9.

S10b-1, judging whether the current starting point is in the 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; and if the current starting point is not in the safety area corresponding to the first task, executing the step S102.

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

In the multiple operations, in view of the situation that the current task is not the first task, it may be determined first whether the current starting point is within the safety region corresponding to the first task, and if the current starting point is not within the safety region corresponding to the first task, the safety region 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 multiple operations, for a situation where 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 also be prompted to place the unattended 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 case, there may be a plurality of plots to be worked, i.e., a plurality of plots to be worked are worked by one unmanned apparatus, i.e., a plurality of plots are a case of a single execution apparatus. In this application scenario, since there is only one unmanned device, the method in steps S101 to S102 may also be adopted to obtain the second security area corresponding to each operation, for concrete implementation, please refer to the contents described in steps S101 to S10, and details are not described herein again.

Meanwhile, aiming at the application scene of the multi-plot single execution device, a safety region 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 region is used for planning a round-trip path corresponding to each task.

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

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

S202, obtaining a safety region corresponding to the current starting point based on the block boundary of each block to be operated and the position of the current starting point, wherein the safety region comprises all the blocks to be operated and the current starting point, and the safety region is used for planning a round-trip path between the current starting point and the block to be operated.

Step S202 will be described in detail below.

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

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

s202b, the convex hull is expanded to set a safe distance so as to contain the current starting point, and a safe area is obtained.

For example, as shown in fig. 12, there are three land parcels to be worked, and when the secondary working path is from a to B, the convex hull may be generated according to the land parcel boundary and the position of the starting point of each land parcel to be worked, and the generation process of the convex hull is similar to the process of generating the initial convex hull in step S102a, and is not described herein again.

Thereafter, as in step S102a, since the starting point may not be really only a point but an area, in order to ensure the safety of the unmanned device, the convex hull is extended to include the starting point, that is, the safety area is obtained.

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

s2021, generating an initial safety region according to the parcel boundary of each parcel to be worked and the position of the current start point, wherein the initial safety region includes all parcels to be worked and the current start point.

S2022, determine whether the initial security zone is secure.

In the present embodiment, if it is detected that the second initial security area is secure, the sub-step S1113 is performed; if it is detected that the second initial security area is not secure, step S1114 is performed.

S2023, if the initial security area is determined to be secure, the initial security area is taken as a 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 zone in S2021 is similar to the process of generating the security zone in S202a to S102b, and the detailed implementation can refer 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 S2024 is similar to the process of processing the initial secure area to obtain the secure area in S1024, and the detailed implementation may refer to the description of the foregoing embodiments, which is not described herein again.

In one possible case, there may be a plurality of unmanned devices, that is, a plurality of unmanned devices are used to perform work on one land to be worked, that is, a case of multiple execution devices. Since the starting point of each unmanned device may be different, the application scenario is the most different from the two application scenarios described above in that a safety region corresponding to each unmanned device needs to be generated, and the safety regions corresponding to the unmanned devices need to be independent and cannot have an intersection.

Therefore, referring to fig. 13, fig. 13 is a schematic flow chart illustrating the generation of the operation security area according to the embodiment of the present application. The operation safety region generation is applied to the unmanned equipment, and comprises the following steps:

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

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

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

In step S302, for each unmanned device, the target security area corresponding to each unmanned device may be generated by using the methods described in steps S101 to S102.

After a target safety area corresponding to each unmanned device is generated, whether intersection exists among the target safety areas is judged. And if no intersection exists between each target safety region, the target safety region is the final safety region. And if the intersection exists among the target safety regions, adjusting the range of at least one target safety region with the intersection so that the intersection does not exist among all the target safety regions to obtain a final safety region.

Meanwhile, if an intersection still exists between the adjusted target safety regions, corresponding auxiliary points are added to each unmanned device to generate disjoint safety channels, and the process of generating the safety channels is similar to that in S10244 to S10245, and detailed implementation may refer to the description of the foregoing embodiments, which is not described herein again.

Referring to fig. 14, fig. 14 shows a schematic flow chart of the path planning method provided in the embodiment of the present application, and the path planning method applied to the unmanned device may include the following steps:

s401, acquiring a safety area of the unmanned equipment at the place to be operated. The safety area may be generated by S101 to S102, or 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 the current task of the unmanned equipment and a land parcel to be operated in the safety area.

And S403, controlling the unmanned equipment to enter or return from the land to be worked along the reciprocating path.

And S404, acquiring obstacle information in the detection range of the detection device by the detection device carried by the unmanned device in the process that the unmanned device travels along the reciprocating path.

The detection device can detect the obstacle information on and around the round-trip path, and the obstacle information in the detection range of the detection device can be detected by the detection device.

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

In the embodiment, the information of the obstacles detected when the unmanned equipment enters the land to be worked is directly used as the basis for updating the safety area, so that an additional detection process is not needed, and the program can be reduced.

It should be noted that, when each operation task is executed, the obstacle information detected between the current starting point corresponding to the operation task and the to-be-operated land can be acquired, and then the safety area can be updated after the to-be-operated land enters or returns from the to-be-operated land each time.

In order to execute the corresponding steps in the above method embodiments and various possible embodiments, an implementation manner applied to the operation safety region generation device and the path planning device is respectively given below.

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

In a possible implementation manner, the first obtaining module 101 is configured to obtain a work path of the unmanned device performing the current task in the to-be-worked area and a position of a current starting point of the unmanned device.

And the processing module 102 is configured to obtain a safety region corresponding to the current task based on the operation path and the position of the current starting point, where the safety region includes the current starting point, and the safety region is used to plan a round-trip path between the current starting point and a parcel to be operated.

Optionally, the first obtaining module 101 performs a manner of obtaining a job path of the unmanned device executing the task of the current time in the to-be-worked place, including: acquiring a global job path and historical job data of the unmanned equipment in a to-be-operated plot; calculating the maximum cruising information of the unmanned equipment according to the historical operation data; and according to the maximum cruising information, determining an operation path corresponding to the current task in the overall operation paths.

Optionally, the processing module 102 is specifically configured to: generating an initial convex hull containing all 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 to include the current starting point to obtain a target convex hull; calculating a geometric difference set of the target convex hull and the land parcel 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 zone is secure; if so, taking the initial security area as a security area; if not, processing the initial security area to obtain a security area.

Optionally, the processing module 102 executes 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 the 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 a safe area.

Optionally, the method for processing the initial secure area to obtain the secure area by the processing module 102 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 and obtain the safety area.

Optionally, the method for processing the initial secure area to obtain the secure area by the processing module 102 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 a safety region according to the connection line of the auxiliary point and the current starting point, wherein the safety region comprises an entering safety channel and a returning safety channel.

Optionally, the unmanned device is equipped with a detection device; the processing module 102 executes a method for processing the initial secure area to obtain the secure area, including: acquiring obstacle information obtained by detecting unmanned equipment in an initial safety area; and adjusting the initial safety region according to the obstacle information to generate a safety region 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 the first task; when the secondary task is the first task, executing a process of obtaining a safety area corresponding to the current task based on the operation path and the position of the current starting point; and when the secondary task is not the first task, acquiring a safety region corresponding to the first task, and acquiring the safety region corresponding to the current task based on the current starting point and the safety region corresponding to the first task.

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

In another possible implementation manner, the first obtaining module 101 is configured to obtain a block boundary of each of a plurality of blocks to be worked and a position of a current starting point of the unmanned aerial vehicle.

The processing module 102 is configured to obtain a safety region corresponding to the current starting point based on a parcel boundary of each parcel to be worked and the position of the current starting point, where the safety region includes all parcels to be worked and the current starting point, and the safety region is used to plan a round-trip path between the current starting point and the 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 boundary of each plot to be operated and the position of the current starting point; and (4) expanding the convex hull to set a safety distance to include the current starting point to obtain a safety region.

Optionally, the processing module 102 is specifically configured to: generating an initial safety region according to the plot boundary of each plot to be operated and the position of the current starting point, wherein the initial safety region comprises all plots to be operated and the current starting point; determining whether the initial security zone is secure; if so, taking the initial security area as a security area; and if not, processing the initial security area to obtain the security area.

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

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

Optionally, the processing module 102 is further configured to: and when no intersection exists between each target safety region, taking each target safety region as the safety region 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 present disclosure. 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 safety region of the unmanned device at the land to be worked. The safety area may be generated by S101 to S102, or S201 to S202, or S301 to S304 described in the foregoing embodiments.

And the path planning module 202 is configured to plan a round-trip path between a current starting point corresponding to the current task of the unmanned equipment and the land parcel to be operated in the safety area.

Optionally, the path planning module 202 is further configured to: controlling the unmanned equipment to enter or return from the land to be worked along a reciprocating path; in the process that the unmanned equipment travels along the back-and-forth path, acquiring obstacle information in the detection range of the detection equipment through the detection equipment carried by the unmanned equipment; and updating the safety region according to the obstacle information to obtain the safety region which does not contain the obstacle corresponding to the obstacle information.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the operation safety region generation apparatus 100 and the path planning apparatus 200 described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

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

The memory 12 is used for storing a program, for example, the operation safety region generation apparatus 100 shown in fig. 15 or the path planning apparatus 200 shown in fig. 16, where the operation safety region generation apparatus 100 or the path planning apparatus 200 includes at least one software functional module which can 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 operation safety region generation method or the path planning method disclosed in the above embodiments.

The Memory 12 may include a Random Access Memory (RAM) and may also include a non-volatile Memory (NVM).

The processor 11 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 11. The processor 11 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Micro Control Unit (MCU), a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), and an embedded ARM.

The embodiment of the application also provides a multi-machine cooperation system, which comprises a plurality of unmanned devices 10, wherein the unmanned devices 10 reciprocate between respective starting points and a to-be-operated plot through respective corresponding safe areas, and execute tasks in the to-be-operated plot. The safety area corresponding to each unmanned aerial vehicle 10 may be generated through S101 to S102, or S201 to S202, or S301 to S304 described in the foregoing embodiments.

The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 11, the method for generating a work safety area or the method for planning a path disclosed in the foregoing embodiment is implemented.

In summary, according to the method for generating the operation safety zone, the method for planning the path, and the related device provided by the embodiment of the application, under the condition of no high definition map, the operation path of the current task in the to-be-operated plot and the position of the current starting point of the unmanned device are executed by the unmanned device, so as to determine the safety zone corresponding to the current task, wherein the safety zone 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 one hand, the safety of the unmanned equipment can be ensured because the back-and-forth path is in a safety area; on the other hand, the round-trip path does not need to pass through a safety point, so the path length is effectively reduced; therefore, the unmanned equipment can safely and efficiently travel between the current starting point and the land to be operated, and the operation efficiency is improved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for generating a work safety region, the method comprising:

acquiring a work path of the unmanned equipment for executing the current task in a to-be-worked plot and the position of the 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 parcel to be operated.

2. The method of claim 1, wherein the work path includes at least one waypoint;

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 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 to set a safe distance to include the current starting point to obtain a target convex hull;

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

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

3. The method according to claim 1, wherein 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 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 so, taking the initial security area as the security area;

and if not, processing the initial security area to obtain the security area.

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

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

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

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

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

6. The method of claim 3, wherein the step of processing the initial secure enclave to obtain the secure enclave 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.

7. The method according to claim 3, wherein the unmanned aerial device is equipped with a detection device;

the step of processing the initial secure area to obtain the secure area includes:

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

and adjusting the initial safety region according to the obstacle information to generate the safety region which does not contain the obstacle corresponding to the obstacle information.

8. The method of claim 1, wherein the step of obtaining a work path for the drone to perform the current task in the parcel to be worked comprises:

acquiring a global job path and historical job data of the unmanned equipment in the to-be-operated plot;

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

and determining an operation path corresponding to the current task in the global operation path according to the maximum cruising information.

9. The method of claim 1, wherein after the step of obtaining the work path for the drone to perform the current task in the parcel to be worked and the location of the current starting point of the drone, the method further comprises:

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

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

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

10. The method of claim 9, wherein the step of obtaining the secure area corresponding to the current task based on the current starting point and the secure 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 so, taking the safety zone corresponding to the first task as the safety zone 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 so as to obtain the safety area corresponding to the current task.

11. A method for generating a work safety area, the method comprising:

the method comprises the steps of obtaining a plot boundary of each plot to be operated in a plurality of plots to be operated and the position of a current starting point of the unmanned equipment;

and obtaining a safety region corresponding to the current starting point based on the block boundary of each block to be operated and the position of the current starting point, wherein the safety region comprises all the blocks to be operated and the current starting point, and the safety region is used for planning a round-trip path between the current starting point and the block to be operated.

12. The method according to claim 11, wherein the step of obtaining the safety region corresponding to the current starting point based on the parcel boundary of each of the parcels to be worked and the position of the current starting point comprises:

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;

and setting a safety distance for the convex hull to include the current starting point to obtain the safety region.

13. The method according to claim 11, wherein the step of obtaining the safety region corresponding to the current starting point based on the parcel boundary of each of the parcels to be worked and the position of the current starting point comprises:

generating an initial safety area according to the plot boundary of each plot to be operated and the position of the current starting point, wherein the initial safety area comprises all the plots to be operated and the current starting point;

determining whether the initial secure area is secure;

if so, taking the initial security area as the security area;

and if not, processing the initial security area to obtain the security area.

14. A method for generating a work safety area, the method comprising:

acquiring a work path of each unmanned device in the plurality of unmanned devices for executing the current task in the to-be-worked plot and the position of the current starting point;

obtaining a target safety region corresponding to each unmanned device based on the operation path corresponding to each unmanned device and the position of the current starting point, wherein the target safety region comprises the current starting point of the corresponding unmanned device;

when intersections exist among the target safety regions, adjusting the range of at least one target safety region with the intersections until each target safety region is not intersected so as to obtain a safety region corresponding to each unmanned device; and the safety area is used for planning a round-trip path between the corresponding current starting point and the land parcel to be operated.

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

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

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

acquiring a safety region of the unmanned equipment at a to-be-operated land; the secure area is generated by the method of any of claims 1-15;

and planning a round-trip path between the current starting point corresponding to the current task of the unmanned equipment and the land parcel to be operated in the safety area.

17. The method of claim 16, wherein the method further comprises:

controlling the unmanned equipment to enter or return from the land to be worked along the reciprocating path;

acquiring obstacle information in a detection range of a detection device carried by the unmanned device in the process that the unmanned device travels along the reciprocating path;

and updating the safety region according to the obstacle information to obtain a safety region which does not contain the obstacle corresponding to the obstacle information.

18. An operation safety region generation apparatus, characterized in that the apparatus comprises:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a work path of the unmanned equipment for executing a current task in a to-be-worked plot and the position of a current starting point of the unmanned equipment;

and the processing module is used for 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 the safety area is used for planning a round-trip path between the current starting point and the plot to be operated.

19. An operation safety region generation apparatus, characterized in that the apparatus comprises:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the plot boundary of each plot to be operated in a plurality of plots to be operated and the position of the current starting point of the unmanned equipment;

and the processing module is used for obtaining a safety region corresponding to the current starting point based on the block boundary of each block to be operated and the position of the current starting point, wherein the safety region comprises all the blocks to be operated and the current starting point, and the safety region is used for planning a back-and-forth path between the current starting point and the block to be operated.

20. An operation safety region generation apparatus, characterized in that the apparatus comprises:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a work path of each unmanned device in a plurality of unmanned devices for executing a current task in a to-be-worked plot and a position of a current starting point;

a processing module to:

21. A path planning apparatus, the apparatus comprising:

the second acquisition module is used for acquiring a safety region of the unmanned equipment at the place to be operated; the secure area is generated by the method of any of claims 1-15;

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 parcel to be operated in the safety area.

22. An unmanned device, comprising:

one or more processors;

memory for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a work safety area generation method as claimed in any one of claims 1-15 or a path planning method as claimed in any one of claims 16-17.

23. A multi-machine cooperation system is characterized by comprising a plurality of unmanned devices, wherein the unmanned devices go to and fro between respective starting points and a plot to be operated through respective corresponding safe regions and execute tasks in the plot to be operated;

wherein the corresponding security zone for each of the unmanned devices is generated by the method of any of claims 14-15.

24. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method for generating a work safety area according to any one of claims 1 to 15, or a method for path planning according to any one of claims 16 to 17.