阅读说明：本技术 路径规划方法、装置、无人设备及存储介质 (Path planning method and device, unmanned equipment and storage medium ) 是由 吴泽龙 于 2020-11-20 设计创作，主要内容包括：本申请实施例涉及自动驾驶技术领域,提供一种路径规划方法、装置、无人设备及存储介质,通过在作业路径上搜索参考点,使得以无人设备的当前位置为起点、参考点为终点生成入线路径后,得到的入线路径能够满足设定要求,从而使得无人机能够按照该入线路径自动驶入作业路径,无需人工参与,利于农业的无人化发展。(The embodiment of the application relates to the technical field of automatic driving, and provides a path planning method, a device, unmanned equipment and a storage medium.)

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

determining a reference point on a work path by taking a starting point of the work path as a search starting point;

generating a route entry path, wherein a starting point of the route entry path is the current position of the unmanned equipment, and an end point of the route entry path is the reference point;

if the incoming route does not meet the set requirement, the reference point is used as a search starting point, and the step of determining the reference point on the operation route is repeatedly executed until the incoming route meeting the set requirement is generated.

2. The method of claim 1, wherein the job path includes a plurality of discrete points located between a start point and an end point of the job path;

the step of determining a reference point on the working path includes:

calculating a first distance between the current position and the search starting point;

calculating second distances between the discrete points after the search starting point and the current position one by one until a target discrete point with the second distance being greater than or equal to the first distance is found;

and determining a point with the minimum distance from the current position as the reference point from the target discrete point and each point before the target discrete point.

3. The method of claim 1, wherein the step of determining a reference point on the work path comprises:

calculating a first distance between the current position and the search starting point;

discretizing the operation path according to a set discrete resolution to obtain a plurality of discrete points, wherein the discrete points are located between a starting point and an end point of the operation path;

calculating second distances between the discrete points after the search starting point and the current position one by one until a target discrete point with the second distance being greater than or equal to the first distance is found;

and determining a point with the minimum distance from the current position as the reference point from the target discrete point and each point before the target discrete point.

4. The method of claim 1, wherein the step of generating an incoming line path comprises:

acquiring a current pose of the unmanned equipment, wherein the current pose comprises a current position and a current direction;

determining a terminal pose of the unmanned equipment according to the reference point and the operation path, wherein the terminal pose comprises a terminal position and a terminal direction;

and generating the incoming line path according to the starting point pose and the end point pose by taking the current pose as a starting point pose.

5. The method of claim 1, wherein the method further comprises:

judging whether the incoming line path meets the set requirement or not;

and if the incoming route meets the set requirement, navigating according to the incoming route so as to enable the unmanned equipment to cut into the operation route.

6. The method of claim 1, wherein the step of determining a reference point on the job path is preceded by the step of using a start point of the job path as a search start point, the method further comprising:

judging whether the operation path meets a preset requirement or not;

if yes, executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point;

if not, preprocessing the operation path until the operation path meets the preset requirement, and executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point.

7. A path planning apparatus, the apparatus comprising:

the reference point determining module is used for determining a reference point on the work path by taking a starting point of the work path as a searching starting point;

the route generating module is used for generating a route entry route, wherein the starting point of the route entry route is the current position of the unmanned equipment, and the end point of the route entry route is the reference point;

and the processing module is used for taking the reference point as a search starting point and repeatedly executing the step of determining the reference point on the operation path until the incoming route meeting the setting requirement is generated if the incoming route does not meet the setting requirement.

8. The apparatus of claim 7, further comprising a pre-processing module to:

judging whether the operation path meets a preset requirement or not;

if yes, executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point;

if not, preprocessing the operation path until the operation path meets the preset requirement, and executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point.

9. An unmanned device, comprising:

one or more processors;

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 path planning method of any of claims 1-6.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the path planning method according to any one of claims 1-6.

Technical Field

The embodiment of the application relates to the technical field of automatic driving, in particular to a path planning method and device, unmanned equipment and a storage medium.

Background

At present, unmanned equipment (such as agricultural machinery, unmanned vehicles and the like) needs to be driven manually to enter an operation path before executing an automatic driving task, and then adopts automatic driving; meanwhile, in the process of executing the automatic driving task, if the unmanned equipment exits from the operation path, the unmanned equipment needs to be manually driven and then automatically driven after entering the operation path. This method requires a lot of manpower and is not favorable for the unmanned development of agriculture.

Disclosure of Invention

An object of the embodiments of the present application is to provide a path planning method, an apparatus, an unmanned device, and a storage medium, which are used to plan an incoming path so that the unmanned device automatically enters an operation path.

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 path planning method, where the method includes: determining a reference point on a work path by taking a starting point of the work path as a search starting point; generating a route entry path, wherein a starting point of the route entry path is the current position of the unmanned equipment, and an end point of the route entry path is the reference point; if the incoming route does not meet the set requirement, the reference point is used as a search starting point, and the step of determining the reference point on the operation route is repeatedly executed until the incoming route meeting the set requirement is generated.

Optionally, the job path comprises a plurality of discrete points, the plurality of discrete points being located between a start point and an end point of the job path; the step of determining a reference point on the working path includes: calculating a first distance between the current position and the search starting point; calculating second distances between the discrete points after the search starting point and the current position one by one until a target discrete point with the second distance being greater than or equal to the first distance is found; and determining a point with the minimum distance from the current position as the reference point from the target discrete point and each point before the target discrete point.

Optionally, the step of determining a reference point on the working path includes: calculating a first distance between the current position and the search starting point; discretizing the operation path according to a set discrete resolution to obtain a plurality of discrete points, wherein the discrete points are located between a starting point and an end point of the operation path; calculating second distances between the discrete points after the search starting point and the current position one by one until a target discrete point with the second distance being greater than or equal to the first distance is found; and determining a point with the minimum distance from the current position as the reference point from the target discrete point and each point before the target discrete point.

Optionally, the step of generating an incoming route includes: acquiring a current pose of the unmanned equipment, wherein the current pose comprises a current position and a current direction; determining a terminal pose of the unmanned equipment according to the reference point and the operation path, wherein the terminal pose comprises a terminal position and a terminal direction; and generating the incoming line path according to the starting point pose and the end point pose by taking the current pose as a starting point pose.

Optionally, the method further comprises: judging whether the incoming line path meets the set requirement or not; and if the incoming route meets the set requirement, navigating according to the incoming route so as to enable the unmanned equipment to cut into the operation route.

Optionally, before the step of determining a reference point on the job path by taking the starting point of the job path as a search starting point, the method further includes: judging whether the operation path meets a preset requirement or not; if yes, executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point; if not, preprocessing the operation path until the operation path meets the preset requirement, and executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point.

In a second aspect, an embodiment of the present application further provides a path planning apparatus, where the apparatus includes: the reference point determining module is used for determining a reference point on the work path by taking a starting point of the work path as a searching starting point; the route generating module is used for generating a route entry route, wherein the starting point of the route entry route is the current position of the unmanned equipment, and the end point of the route entry route is the reference point; and the processing module is used for taking the reference point as a search starting point and repeatedly executing the step of determining the reference point on the operation path until the incoming route meeting the setting requirement is generated if the incoming route does not meet the setting requirement.

Optionally, the apparatus further comprises a preprocessing module, the preprocessing module being configured to: judging whether the operation path meets a preset requirement or not; if yes, executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point; if not, preprocessing the operation path until the operation path meets the preset requirement, and executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point.

In a third 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 that, when executed by the one or more processors, cause the one or more processors to implement the path planning method described above.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the path planning method described above.

Compared with the prior art, the path planning method and device, the unmanned aerial vehicle and the storage medium provided by the embodiment of the application have the advantages that the reference point is searched on the operation path, so that after the incoming line path is generated by taking the current position of the unmanned aerial vehicle as the starting point and the reference point as the end point, the obtained incoming line path can meet the set requirement, the unmanned aerial vehicle can automatically enter the operation path according to the incoming line path, manual participation is not needed, and the unmanned development of agriculture is facilitated.

Drawings

Fig. 1 shows a schematic flow chart of a path planning method provided in an embodiment of the present application.

Fig. 2 is a schematic flow chart of step S101 in the path planning method shown in fig. 1.

Fig. 3 is a diagram illustrating an example of a job path provided in an embodiment of the present application.

Fig. 4 is another schematic flow chart of step S101 in the path planning method shown in fig. 1.

Fig. 5 is a schematic flowchart of step S102 in the path planning method shown in fig. 1.

Fig. 6 shows another schematic flow chart of the path planning method provided in the embodiment of the present application.

Fig. 7 shows another flowchart of the path planning method provided in the embodiment of the present application.

Fig. 8 is a block diagram illustrating a path planning apparatus according to an embodiment of the present application.

Fig. 9 shows a block schematic diagram of an unmanned aerial device provided by an embodiment of the present application.

Icon: 100-a path planning device; 101-a reference point determination module; 102-a path generation module; 103-a processing module; 104-a pre-processing 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.

The unmanned agricultural intelligence is a key for agricultural development, and currently, before an unmanned device (such as an agricultural machine, an unmanned vehicle and the like) executes an automatic driving task, an operation path needs to be planned first, then the unmanned device is manually driven to enter the operation path, and then the unmanned device runs in an automatic driving mode. Meanwhile, in the process of executing the automatic driving task, if the unmanned equipment is found to run out of the working path, the automatic driving mode needs to be switched to the manual driving mode, and after the manual driving unmanned equipment returns to the working path, the unmanned equipment runs in the automatic driving mode again. Obviously, the mode needs a great deal of manpower and is not beneficial to the unmanned development of agriculture.

In the prior art, individual methods can plan a path, so that unmanned equipment can enter a working path in an automatic driving mode, but the paths planned by the methods cannot meet the working requirements of the unmanned equipment. For example, the working requirement after the unmanned aerial vehicle automatically enters the working path cannot be satisfied, for example, the working path available after the unmanned aerial vehicle enters the working path is too small, the unmanned aerial vehicle needs to turn around frequently, or the unmanned aerial vehicle needs to travel an extra distance (for example, a road segment already worked).

In order to solve the above problems, in the embodiment of the present application, a reference point is searched for on the operation path, so that after the incoming line path is generated with the current position of the unmanned aerial vehicle as a starting point and the reference point as an end point, the obtained incoming line path can meet the setting requirement, so that the unmanned aerial vehicle can automatically drive into the operation path without human participation, thereby facilitating the unmanned development of agriculture, and simultaneously meeting the operation requirement of the unmanned aerial vehicle, for example, the unmanned aerial vehicle can enter into the operation path in a state as smooth as possible, can keep as many operable paths as possible after entering into the operation path, avoids unnecessary turning as much as possible, avoids unnecessary paths as much as possible, and the like. As described in detail below.

The unmanned device in this embodiment may be an agricultural machine, an unmanned vehicle, an unmanned ship, a robot, or the like, and the user may select different devices according to an actual application scenario, which is not limited herein.

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a path planning method according to an embodiment of the present disclosure. The path planning method is applied to unmanned equipment and comprises the following steps:

and S101, determining a reference point on the work path by taking the starting point of the work path as a search starting point.

Before the unmanned equipment executes the automatic driving task, under the condition that the unmanned equipment needs to automatically enter the operation path, or under the condition that the unmanned equipment exits the operation path and needs to automatically return to the operation path in the process of executing the automatic driving task, the method provided by the embodiment can be adopted to plan the incoming line path.

Before planning the incoming line path, firstly, the current pose of the unmanned equipment and a pre-planned operation path need to be obtained, and then the incoming line path is planned based on the current pose of the unmanned equipment and the operation path. The pose refers to a position and a direction, so the current pose of the unmanned aerial vehicle includes the current position and the current direction. The working path may be a straight line or a curved line, and the following embodiment will be described by taking a curved line as an example.

When planning the route entry path, in order to keep as many workable paths as possible after the unmanned equipment enters the working path through the route entry path, the starting point of the working path is used as a search starting point, the advancing direction of the working path is used as a search direction, and the searching is carried out forwards until a reference point is found out on the working path.

Meanwhile, in order to enable the unmanned equipment to enter the working path in a state as smooth as possible, the generated incoming line path needs to be ensured to be cut into the working path as smooth as possible, so that the reference point can be searched out in the following way: first, a distance d0 between the current position of the unmanned device and a search start point is calculated; then, starting from the search starting point, sequentially searching forwards until a point with the distance between the current position of the unmanned equipment and the current position of the unmanned equipment being greater than or equal to d0 is found; and then finding out the point with the minimum distance from the current position of the unmanned equipment from the point and all the points before the point as a reference point.

And S102, generating a line entering path, wherein the starting point of the line entering path is the current position of the unmanned equipment, and the end point of the line entering path is a reference point.

After the reference point is determined on the operation path, the incoming line path can be generated by taking the current position of the unmanned equipment as a starting point and the reference point as an end point.

Optionally, the manner of generating the incoming line path may be: the starting point pose and the end point pose are determined firstly, and the incoming route can be generated by directly adopting various existing route generation methods such as RLR curves, polynomial curves and the like when the starting point pose and the end point pose exist.

Wherein the starting position and posture are the current position and posture of the unmanned equipment. The end point pose comprises an end point position and an end point direction, the end point position is the position of the reference point, and the end point direction can be approximately obtained through the difference relation between the reference point and the points before and after the reference point. For example, the approximation is obtained by a differential relationship between the reference point and a point preceding the reference point, or a differential relationship between a point preceding the reference point and a point succeeding the reference point.

It should be noted that the process of finding the direction through the difference relationship between two points is the prior art, and is not described herein again.

And S103, if the incoming route does not meet the setting requirement, taking the reference point as a search starting point and repeatedly executing the step of determining the reference point on the operation route until the incoming route meeting the setting requirement is generated.

After the incoming route is generated, in order to satisfy the operation requirements of the unmanned aerial vehicle, for example, the unmanned aerial vehicle can enter the operation route in a smooth state as much as possible, can reserve as many operable routes as possible after entering the operation route, avoids unnecessary turnaround as much as possible, avoids unnecessary routes as much as possible, and the like, it is necessary to check whether the incoming route satisfies the setting requirements.

The set requirement may be, but is not limited to: the approach path must be sufficiently smooth, the curvature must be continuous, the minimum radius of curvature is not less than the minimum turning radius of the drone, not pass through obstacles, not pass through worked areas, etc.

It should be noted that the above setting requirements are only examples, and the setting requirements may be designed by a user according to an actual application scenario, combining job requirements and characteristics of the unmanned aerial vehicle, and are not limited herein.

If the incoming line path meets the operation requirement, the unmanned equipment can be controlled to travel according to the incoming line path so as to enter the operation path. If the incoming path does not meet the job requirements, the end point needs to be updated to re-plan the incoming path, i.e., re-determine the reference point.

To improve processing efficiency, the process of re-determining the reference point may be: and (4) searching forwards by taking the currently determined reference point as a search starting point and the advancing direction of the operation path as a search direction, namely, repeatedly executing the steps S101 to S102 by taking the currently determined reference point as the search starting point until the generated incoming line path meets the set requirement, and then controlling the unmanned equipment to travel according to the incoming line path to enter the operation path.

In one possible scenario, in searching for a reference point, if points on the job path are taken too densely, it may take a lot of time to find the reference point; if the points on the operation path are taken too sparsely, it may result in that an incoming path that meets the setting requirements cannot be obtained. Accordingly, the job path may be discretized into a plurality of discrete points located between the start point and the end point of the job path, and then the reference point may be searched based on the discrete points.

Therefore, as an embodiment, referring to fig. 2 on the basis of fig. 1, step S101 may include the following sub-steps:

s1011, a first distance between the current position and the search start point is calculated.

And S1012, calculating second distances between the discrete points after the starting point is searched and the current position one by one until the target discrete point with the second distance greater than or equal to the first distance is found.

S1013, a point having the smallest distance from the current position is determined as the reference point from the target discrete point and the points before the target discrete point.

For example, referring to fig. 3, a curve in the figure is a work path, a is a start point of the work path, B is an end point of the work path, 1, 2, and 3 … … n are discrete points, and S is a current position of the unmanned aerial device. Assume that the first distance is d0, the second distance is d, and the search starting point is a. After the first distance d0 is calculated, the second distances d between the discrete points (i.e., 1, 2, 3 … … n) after the search starting point a and S need to be calculated one by one until a target discrete point (e.g., 4) with d ≧ d0 is found, and then a point with the minimum distance to S is found as a reference point from the target discrete point and the points before the target discrete point (e.g., a, 1, 2, 3, 4). The reference point may be any of a, 1, 2, 3 … … n.

It should be noted that the discretization of the working path may be performed before or during the searching of the reference point.

Therefore, as another embodiment, referring to fig. 4 on the basis of fig. 1, step S101 may also include the following sub-steps:

s101a, a first distance between the current position and the search starting point is calculated.

S101b discretizes the work path at a set discrete resolution to obtain a plurality of discrete points, the plurality of discrete points being located between the start point and the end point of the work path.

The set discrete resolution may be designed according to a control cycle of a control system of the unmanned aerial vehicle, and a product of the control cycle and a speed of the unmanned aerial vehicle is used as the set discrete resolution. For example, if the control cycle is 0.5s and the speed of the robot is 1m/s, the lead distance is set to 0.5 m.

And S101c, calculating second distances between the discrete points after the search starting point and the current position one by one until finding a target discrete point with the second distance being greater than or equal to the first distance.

S101d specifies, as a reference point, a point having the smallest distance from the current position, from among the target discrete point and the points before the target discrete point.

Step S102 will be described in detail below. On the basis of fig. 1, please refer to fig. 5, step S102 may include the following sub-steps:

and S1021, acquiring the current pose of the unmanned equipment, wherein the current pose comprises the current position and the current direction.

And S1022, determining the terminal pose of the unmanned equipment according to the reference point and the operation path, wherein the terminal pose comprises a terminal position and a terminal direction.

In this embodiment, the end position pose includes an end position and an end direction, and the end position is a position of the reference point.

The direction of the end point can be approximated by a difference relationship between the reference point and points before and after the reference point on the working path. For example, the difference is approximated by a difference between the reference point and a point preceding the reference point on the work path, or a difference between a point preceding the reference point on the work path and a point succeeding the reference point.

And S1023, generating a line-entering path according to the starting point pose and the end point pose by taking the current pose as the starting point pose.

In this embodiment, the method for generating the incoming route according to the start point pose and the end point pose may be various existing route generation methods, for example, an RLR curve, a polynomial curve, and the like, and will not be described herein again.

In this embodiment, if the generated incoming route meets the setting requirement, it indicates that the currently generated incoming route can be output as a final incoming route for automatic navigation of the unmanned device. Therefore, referring to fig. 6 on the basis of fig. 1, after step S102, the path planning method may further include steps S110 and S120.

And S110, judging whether the incoming line path meets the set requirement.

And S120, if the incoming route meets the set requirement, navigating according to the incoming route so that the unmanned equipment cuts into the operation route.

In step S110, if the incoming route meets the setting requirement, step S120 is executed, that is, the currently generated incoming route is output as a final incoming route for automatic navigation of the unmanned device; if the incoming route does not meet the setting requirement, step S103 is executed, that is, steps S101 to S102 are repeatedly executed with the currently determined reference point as the search starting point until the incoming route meeting the setting requirement is generated.

In a possible situation, in order to ensure that the unmanned aerial vehicle smoothly performs the automatic driving task, the working path needs to consider the working requirement and the characteristics of the unmanned aerial vehicle, and therefore, on the basis of fig. 1, referring to fig. 7, before step S101, the path planning method may further include steps S1a and S1 b.

And S1a, judging whether the working path meets the preset requirement.

S1b, preprocessing the operation path until the operation path meets the preset requirement.

In step S1a, if the job path meets the preset requirement, step S101 is executed, i.e. a reference point is determined on the job path with the starting point of the job path as the search starting point; if the job path does not meet the preset requirements, step S1b is executed, i.e., the job path is preprocessed until the job path meets the preset requirements.

The preset requirements may be, but are not limited to: the work path must be sufficiently smooth, the curvature must be continuous, the minimum radius of curvature is not less than the minimum turning radius of the drone, not pass through obstacles, not pass through worked areas, etc.

It should be noted that the setting requirement for the incoming line path is similar to the preset requirement for the working path, and the preset requirement may also be designed by the user according to the actual application scenario, combining the working requirement and the characteristics of the unmanned device, and is not limited herein.

In step S1b, the method for preprocessing the operation path may adopt the existing smoothing filtering, convex optimization, and the like, which is not described herein again.

Compared with the prior art, the embodiment of the application has the following beneficial effects:

firstly, a reference point is searched on an operation path, so that after an incoming line path is generated by taking the current position of the unmanned equipment as a starting point and the reference point as an end point, the obtained incoming line path can meet the set requirement, the unmanned aerial vehicle can automatically drive into the operation path according to the incoming line path, manual participation is not needed, and the unmanned development of agriculture is facilitated;

secondly, since the finally output incoming line path meets the set requirement, the unmanned equipment runs according to the incoming line path and can meet the operation requirement of the unmanned equipment, for example, the unmanned equipment can enter the operation path in a smooth state as much as possible, can keep as many operable paths as possible after entering the operation path, avoid unnecessary turning, avoid redundant paths as much as possible and the like;

thirdly, the determination of the end point direction, the generation of the incoming route and the pretreatment of the operation route can all adopt the existing method directly, thereby greatly reducing the technical cost of development.

In order to execute the corresponding steps in the above-mentioned embodiment of the path planning method and various possible embodiments, an implementation manner applied to the path planning apparatus is given below.

Referring to fig. 8, fig. 8 is a block diagram illustrating a path planning apparatus 100 according to an embodiment of the present disclosure. The path planning apparatus 100 is applied to an unmanned device, and includes: a reference point determining module 101, a path generating module 102 and a processing module 103.

A reference point determining module 101, configured to determine a reference point on the job path by using the starting point of the job path as a search starting point.

The route generating module 102 is configured to generate a route entry path, where a starting point of the route entry path is a current location of the unmanned device, and an end point of the route entry path is a reference point.

And the processing module 103 is configured to, if the incoming route does not meet the setting requirement, use the reference point as a search starting point and repeatedly execute the step of determining the reference point on the operation route until the incoming route meeting the setting requirement is generated.

Optionally, the job path comprises a plurality of discrete points, the plurality of discrete points being located between the start point and the end point of the job path; the reference point determining module 101 performs a manner of determining a reference point on the job path, including: calculating a first distance between the current position and the search starting point; calculating second distances between the discrete points after the starting point is searched and the current position one by one until a target discrete point with the second distance being greater than or equal to the first distance is found; and determining a point with the minimum distance from the current position as a reference point from the target discrete point and each point before the target discrete point.

Optionally, the reference point determining module 101 executes a manner of determining the reference point on the job path, including: calculating a first distance between the current position and the search starting point; discretizing the operation path according to the set discrete resolution to obtain a plurality of discrete points, wherein the discrete points are positioned between the starting point and the end point of the operation path; calculating second distances between the discrete points after the starting point is searched and the current position one by one until a target discrete point with the second distance being greater than or equal to the first distance is found; and determining a point with the minimum distance from the current position as a reference point from the target discrete point and each point before the target discrete point.

Optionally, the path generating module 102 is specifically configured to: acquiring a current pose of the unmanned equipment, wherein the current pose comprises a current position and a current direction; determining a terminal pose of the unmanned equipment according to the reference point and the operation path, wherein the terminal pose comprises a terminal position and a terminal direction; and generating an incoming line path according to the starting point pose and the end point pose by taking the current pose as the starting point pose.

Optionally, the processing module 103 is further configured to: judging whether the incoming path meets the set requirement or not; and if the incoming route meets the set requirement, navigating according to the incoming route so as to enable the unmanned equipment to cut into the operation route.

Optionally, the path planning apparatus 100 further includes a preprocessing module 104.

The preprocessing module 104 is configured to: judging whether the operation path meets a preset requirement or not; if yes, executing a step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point; if not, preprocessing the operation path until the operation path meets the preset requirement, and executing the step of determining a reference point on the operation path by taking the starting point of the operation path as a search starting point.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the path planning apparatus 100 described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

Referring to fig. 9, fig. 9 is a block diagram illustrating an unmanned aerial vehicle 10 according to an embodiment of the present application. The drone 10 may be an agricultural machine, an unmanned vehicle, an unmanned boat, a robot, 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, such as the path planning apparatus 100 shown in fig. 8, the path planning apparatus 100 includes at least one software functional module which can be stored in the memory 12 in a form of software or firmware (firmware), and the processor 11 executes the program after receiving an execution instruction to implement the path planning method disclosed in the above embodiment.

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 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 path planning method disclosed in the foregoing embodiment is implemented.

To sum up, according to the path planning method, the apparatus, the unmanned aerial vehicle and the storage medium provided in the embodiments of the present application, the reference point is searched on the operation path, so that after the incoming line path is generated with the current position of the unmanned aerial vehicle as the starting point and the reference point as the end point, the obtained incoming line path can meet the set requirement, and thus the unmanned aerial vehicle can automatically enter the operation path without human participation, which is beneficial to the unmanned development of agriculture, and meanwhile, the operation requirement of the unmanned aerial vehicle can also be met.

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.