Moving trajectory planning method and device

The embodiment of the invention provides a moving trajectory planning method and device. The method comprises the steps of obtaining target image data; extracting all straight lines in the target image data; respectively calculating the inclination angle of the straight lines, and determining the straight lines with the inclination angle being within a preset inclination threshold range as linearobstacles; and planning the moving trajectory of a moving object in real time based on the linear obstacles so as to enable the moving object to avoid the linear obstacles during the moving process. According to the embodiment of the invention, the linear obstacles can be accurately recognized, the moving object is enabled to avoid the linear obstacles during the moving process, and the moving object is prevented from colliding with the linear obstacles or entering an included angle area of the linear obstacles to result in damages. 本发明实施例提供了种移动轨迹规划的方法及装置，其中所述方法包括：获取目标图像数据；提取所述目标图像数据中的所有直线；分别计算所述直线的倾斜角，并将倾斜角位于预设倾斜阈值范围