Abstract: A method for trajectory planning, an apparatus, a storage medium, and an electronic device are provided. A constraint set of a space including a target device is determined according to a velocity of an unmanned device and velocities of designated obstacles, so that during optimization of a preliminary reference trajectory, a solution can be obtained with the space in the constraint set as a solution space under the constraint of the constraint set, so as to ensure that the solution space is a convex space, and relatively satisfactory reference trajectory points can be solved.

Abstract: A method for trajectory planning, an apparatus, a storage medium, and an electronic device are provided. A constraint set of a space including a target device is determined according to a velocity of an unmanned device and velocities of designated obstacles, so that during optimization of a preliminary reference trajectory, a solution can be obtained with the space in the constraint set as a solution space under the constraint of the constraint set, so as to ensure that the solution space is a convex space, and relatively satisfactory reference trajectory points can be solved.

Abstract: A robot and a collecting method for collecting polymetallic nodules in deep-sea are provided. The robot includes an underwater moving carrier and a collecting module, and the collecting module is fixedly mounted on the underwater moving carrier. The collecting module includes a collecting frame, a collecting pump, a rack and a collecting tube, the collecting frame is installed at the bottom of the rack, and the collecting pump is a piston pump, which includes a piston and a cylinder with open lower-end. The upper part of the cylinder is a collecting area, the lower part is a piston stroke area, the collecting tube is connected to the cylinder of the collecting area, and a check valve is arranged in the middle of the piston.

Abstract: A robot and a collecting method for collecting polymetallic nodules in deep-sea are provided. The robot includes an underwater moving carrier and a collecting module, and the collecting module is fixedly mounted on the underwater moving carrier. The collecting module includes a collecting frame, a collecting pump, a rack and a collecting tube, the collecting frame is installed at the bottom of the rack, and the collecting pump is a piston pump, which includes a piston and a cylinder with open lower-end. The upper part of the cylinder is a collecting area, the lower part is a piston stroke area, the collecting tube is connected to the cylinder of the collecting area, and a check valve is arranged in the middle of the piston. The disclosure realizes the non-destructive collection of deep-sea polymetallic nodules and has high efficiency.