CN111161424B - Determination method and determination device for three-dimensional map - Google Patents
Determination method and determination device for three-dimensional map Download PDFInfo
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Abstract
The invention discloses a method and a device for determining a three-dimensional map, which are characterized in that a simulation environment file for loading on a gazebo simulation platform is determined according to a first subparameter and a second subparameter, after the simulation environment file is loaded on the gazebo simulation platform, a map set which corresponds to the first environment and comprises two-dimensional maps with different heights is determined according to a third subparameter, and then a corresponding three-dimensional map is determined according to the determined map set; therefore, the embodiment of the invention combines the gazebo simulation platform and the simulation environment file to determine the three-dimensional map of the environment where the robot is located, so that the determined three-dimensional map has higher accuracy, and more accurate and effective data reference can be provided for subsequent robot control; in addition, the method for determining the three-dimensional map is simple and easy to implement, so that the efficiency for determining the three-dimensional map can be improved.
Description
Technical Field
The invention relates to the technical field of robot simulation, in particular to a method and a device for determining a three-dimensional map.
Background
The robot simulation technology is crucial to the development of related algorithms of the robot, can flexibly and rapidly provide an implemented environment for algorithm testing, saves manpower and material resources, and can also provide extreme working condition testing, long-time testing and the like which are difficult to realize in practical testing.
The simulation and determination of the three-dimensional map are particularly important in the robot simulation technology, so how to accurately determine the three-dimensional map of the environment where the robot is located is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining a three-dimensional map, which are used for accurately determining the three-dimensional map of the environment where a robot is located.
In a first aspect, an embodiment of the present invention provides a method for determining a three-dimensional map, including:
determining a first parameter corresponding to a three-dimensional map to be determined, wherein the first parameter comprises: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles present in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including altitude information and precision information, the first environment including a plurality of stationary references, the obstacles being different from the references;
determining a simulation environment file for loading on a gazebo simulation platform according to the first subparameter and the second subparameter;
After loading the simulation environment file on the gazebo simulation platform, determining a map set which corresponds to the first environment and comprises two-dimensional maps with different heights according to the third subparameter;
and determining a corresponding three-dimensional map according to the determined map set.
Optionally, in an embodiment of the present invention, after loading the simulation environment file on the gazebo simulation platform and before determining the corresponding three-dimensional map, the method further includes:
and reloading the simulation environment file on the gazebo simulation platform when the gazebo simulation platform is judged to be unstable in operation.
Optionally, in an embodiment of the present invention, the method further includes:
if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map of the ith height is determined and after the two-dimensional map of the (i-1) th height is determined, the two-dimensional map of the ith height is redetermined; i is a positive integer.
Optionally, in an embodiment of the present invention, determining, according to the third sub-parameter, a map set corresponding to the first environment and including two-dimensional maps with different heights includes:
judging whether the current value of the second parameter used for representing the number of the two-dimensional map which is determined by statistics is smaller than a preset value or not; the preset value is determined according to the height information and the precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
If not, constructing the map set according to the determined two-dimensional maps;
if yes, when a two-dimensional map corresponding to the ith height is determined in the preset time, adjusting the value of the second parameter; wherein i is the number of the two-dimensional map which is determined currently and is added with one, and i is a positive integer.
Optionally, in an embodiment of the present invention, after determining that the value of the second parameter is smaller than the preset value, the method further includes:
determining a zone bit used for representing whether a two-dimensional map needs to be generated currently as a first mark; the first mark represents that a two-dimensional map is required to be generated currently;
judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
if yes, determining a two-dimensional map corresponding to the ith height in the first environment in a preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
Optionally, in an embodiment of the present invention, determining, in a preset time, a two-dimensional map corresponding to an ith height in the first environment includes:
determining a two-dimensional map corresponding to the ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark represents that the two-dimensional map does not need to be regenerated currently;
And when the two-dimensional map is determined within the preset time, modifying the zone bit into the first mark.
Optionally, in an embodiment of the present invention, when it is determined that the two-dimensional map is not determined within the preset time, the method further includes:
modifying the flag bit to the first flag;
judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
after determining the two-dimensional map corresponding to the ith altitude in the first environment in the preset time and before adjusting the value of the second parameter, the method further comprises the following steps:
judging whether a two-dimensional map is needed to be generated at present according to the zone bit.
Optionally, in an embodiment of the present invention, determining, according to the first sub-parameter and the second sub-parameter, a simulation environment file for running on a gazebo simulation platform specifically includes:
selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and when judging that the preset conditions are met according to the determined position information and the first sub-parameters, writing the determined position information into the preset file to obtain the simulation environment file.
Optionally, in an embodiment of the present invention, the preset condition is:
the first sub-parameters comprise position coordinates and a maximum envelope radius of each reference object, and the position information of the obstacle comprises the position coordinates and the maximum envelope radius;
for any of the obstacles: the sum of the maximum envelope radius of the obstacle and the maximum envelope radius of any reference object is a first value, the Euclidean distance between the position coordinates of the obstacle and the position coordinates of the reference object is a second value, and the first value is larger than the second value.
Optionally, in an embodiment of the present invention, after determining that a preset condition is met according to each determined location information and the first sub-parameter, and before obtaining the simulation environment file, the method further includes:
determining the type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
writing the selected obstacle model into the preset file.
In a second aspect, an embodiment of the present invention provides a three-dimensional map determining apparatus, including:
the first unit is used for determining a first parameter corresponding to the three-dimensional map to be determined, and the first parameter comprises: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles present in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including altitude information and precision information, the first environment including a plurality of stationary references, the obstacles being different from the references;
The second unit is used for determining a simulation environment file for loading on the gazebo simulation platform according to the first subparameter and the second subparameter;
a third unit, configured to determine, according to the third sub-parameter, a map set corresponding to the first environment and including two-dimensional maps with different heights after the simulation environment file is loaded on the gazebo simulation platform;
and the fourth unit is used for determining a corresponding three-dimensional map according to the determined map set.
The invention has the following beneficial effects:
according to the method and the device for determining the three-dimensional map, the simulation environment file used for loading on the gazebo simulation platform is determined according to the first subparameter and the second subparameter, after the simulation environment file is loaded on the gazebo simulation platform, the map set which corresponds to the first environment and comprises two-dimensional maps with different heights is determined according to the third subparameter, and then the corresponding three-dimensional map is determined according to the determined map set; therefore, the embodiment of the invention combines the gazebo simulation platform and the simulation environment file to determine the three-dimensional map of the environment where the robot is located, so that the determined three-dimensional map has higher accuracy, and more accurate and effective data reference can be provided for subsequent robot control; in addition, the method for determining the three-dimensional map is simple and easy to implement, so that the efficiency for determining the three-dimensional map can be improved.
Drawings
FIG. 1 is a flow chart of a method for determining a three-dimensional map according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of determining a map set provided in an embodiment of the present invention;
FIG. 3 is a flow chart of a method for determining a simulation environment file provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a three-dimensional map determining apparatus according to an embodiment of the present invention.
Detailed Description
A detailed description will be given below of a method and an apparatus for determining a three-dimensional map according to an embodiment of the present invention, with reference to the accompanying drawings. It should be noted that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a method for determining a three-dimensional map, which can be shown in fig. 1 and comprises the following steps:
s101, determining a first parameter corresponding to a three-dimensional map to be determined, wherein the first parameter comprises: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles present in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including altitude information and accuracy information, the first environment including a plurality of stationary references, the obstacles being different from the references;
The first environment may be any simulation environment where the robot is located, for example, but not limited to, an office environment, and accordingly, the references included in the first environment may include: furniture such as desks, chairs, bookshelf and the like, and the position of the reference object in the first environment is kept unchanged in the process of determining the three-dimensional map later.
As for the obstacle, an object that exists in the first environment and is different from the reference object, for example, but not limited to, when in an office environment, the reference object may be a table, a chair, or the like, and the obstacle may be a worker in the office environment.
In addition, in the embodiment of the present invention, the number of the obstacles included in the first environment may be set according to actual needs, for example, but not limited to, a three-dimensional map in an office environment with more staff needs to be determined, and when the staff acts as the obstacles, the number of the set obstacles may be a little greater, so that the determined three-dimensional map meets the actual needs.
In this way, in the embodiment of the present invention, an environment model library may be pre-established, and the environment model library may be stored in the form of a text file, where the storage location may be any space that may store data. The environment model library comprises a plurality of environment models, each environment model corresponds to one environment, each environment model is correspondingly provided with a mark (such as a number but not limited to), and the environment models store coordinates and names of references except for the wall surfaces in the corresponding environments. In the embodiment of the present invention, the first sub-parameter may be, but is not limited to, a flag corresponding to the environmental model.
Further, for the first information, the height information may be understood as the height of the three-dimensional map that is desired to be generated, the accuracy information may be understood as the accuracy of the three-dimensional map that is desired to be generated, or the accuracy information may be further understood as: the height difference between two-dimensional maps corresponding to any two adjacent heights, for example, but not limited to, obtaining a two-dimensional map at intervals of a first distance, wherein the first distance is the precision information, and the three-dimensional map can be determined through the two-dimensional maps corresponding to different heights.
S102, determining a simulation environment file for loading on a gazebo simulation platform according to the first subparameter and the second subparameter;
the gazebo is a simulation platform or is understood as a simulation simulator, and can perform dynamic simulation on the robot, so that the simulation of the robot is realized; for a specific process of loading the simulation environment file on the gazebo simulation platform, reference may be made to the prior art, and will not be described in detail herein.
S103, after loading a simulation environment file on the gazebo simulation platform, determining a map set which corresponds to the first environment and comprises two-dimensional maps with different heights according to a third sub-parameter;
when a simulation environment file is loaded on the gazebo simulation platform, the simulation environment can be opened to determine a map set; the two-dimensional map generated in this process may be generated by a plug-in provided by the gazebo simulation platform, and specific plug-ins for which two-dimensional map is generated may be found in the prior art, and will not be described in detail herein.
S104, determining a corresponding three-dimensional map according to the determined map set.
In the embodiment of the invention, the determined three-dimensional map is a three-dimensional map of the robot simulation environment and is not a three-dimensional map of the environment where the robot is located during actual movement.
Therefore, the embodiment of the invention combines the gazebo simulation platform and the simulation environment file to determine the three-dimensional map of the environment where the robot is located, so that the determined three-dimensional map has higher accuracy, and more accurate and effective data reference can be provided for subsequent robot control; in addition, the method for determining the three-dimensional map is simple and easy to implement, so that the efficiency for determining the three-dimensional map can be improved.
Alternatively, in the embodiment of the present invention, in order to implement the content of S104, the following procedure may be adopted:
process 1: traversing each two-dimensional map in the map set, and determining space occupation information of each grid in each two-dimensional map;
the two-dimensional map may be a two-dimensional grid map, and includes a plurality of grids arranged in an array, where each grid corresponds to a coordinate position; if a certain grid is occupied, the grid can be marked as black, if the grid is not occupied, the grid can be marked as white, so that each two-dimensional map is a grid map composed of black grids and white grids, the coordinates corresponding to the grids in the two-dimensional grid map can be determined through the color of each grid, and the coordinates corresponding to the grids are not occupied, so that the space occupation information of each grid in the two-dimensional map is determined.
Of course, the space occupation information of each cell in the two-dimensional map is not limited to the above description, but may be represented in other manners capable of representing the space occupation situation of each cell, which is not limited herein, but only illustrated herein.
Process 2: and (5) superposing the two-dimensional maps to obtain the corresponding three-dimensional map.
Since each two-dimensional map in the map set corresponds to a height, if a grid with coordinates (x, y) in the two-dimensional grid map corresponding to the height zi is occupied, it can be determined that a point with coordinates (x, y, zi) in the three-dimensional map is occupied.
In particular, the specific superposition processes mentioned in process 2 can be found in the prior art and are not described in detail here.
Therefore, by carrying out superposition processing on the two-dimensional maps with different heights, the three-dimensional map can be determined; in addition, the accuracy of the two-dimensional map in the determined map set is higher, so that the accuracy of the corresponding three-dimensional map is also higher, and effective and accurate data reference can be provided for the control of the subsequent robot.
In a specific implementation, in an embodiment of the present invention, after loading the simulation environment file on the gazebo simulation platform and before determining the corresponding three-dimensional map, the method further includes:
And when the gazebo simulation platform is judged to be unstable in operation, reloading the simulation environment file on the gazebo simulation platform.
Wherein, the simulation environment file is loaded on the gazebo simulation platform, and when the simulation environment is opened, the process can be called as a process 1.
In practical situations, since the gazebo simulation platform has unstable operation, if the gazebo simulation platform has unstable operation and the process 1 ends accidentally, the gazebo simulation platform can be restarted immediately to restore the process 1 to be stable again. The process of restarting the gazebo simulation platform immediately can be understood as a process of reloading the simulation environment file on the gazebo simulation platform.
Therefore, the situation that the map set cannot be determined after the process 1 ends accidentally can be avoided, and the situation that the three-dimensional map cannot be determined due to the fact that the map set cannot be determined is avoided, so that the three-dimensional map can be accurately and effectively determined.
Specifically, in the embodiment of the present invention, the method further includes:
if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map of the ith height is determined and after the two-dimensional map of the (i-1) th height is determined, the two-dimensional map of the ith height is redetermined; i is a positive integer.
In the embodiment of the present invention, the process of generating the two-dimensional map may be referred to as process 2, and the process 1 and the process 2 are performed in parallel, that is, the process 1 is performed simultaneously while the process 2 is performed, so long as the process 1 is not accidentally ended and always keeps normal execution, no interference is caused to the process 2, thereby ensuring that the two-dimensional map is determined by the process 2.
It is noted that, the process 2 starts generating the two-dimensional map only after the process 1 starts, and if the process 1 is just in the end or restart state when the process 2 starts, the process 2 cannot continue running. Thus, if the process 1 ends unexpectedly during the execution of the process 2, the process 2 may continue to execute the process in which the process 2 is located at the end of the process 1 after the process 1 is restarted.
For example, if the process 2 is generating the two-dimensional map corresponding to the ith height, the process 1 ends unexpectedly and restarts, after the restart of the process 1, the two-dimensional map corresponding to the ith height needs to be regenerated for the process 2, and the two-dimensional map before the generated ith height does not need to be redetermined.
Therefore, the repeated generation of the two-dimensional maps can be avoided, and each two-dimensional map in the map set is ensured to be a map with different heights, so that the three-dimensional map can be determined according to the map set.
In addition, when the process 1 and the process 2 are realized, the program development of the gazebo simulation platform is not required to be additionally added, the existing program and function of the gazebo simulation platform are adopted, and meanwhile, the method has the characteristics of simple logic, high reliability and the like, so that a map set can be accurately and effectively determined, and a data basis is provided for the determination of a three-dimensional map.
Alternatively, in an embodiment of the present invention, the implementation of the process 1 and the process 2 may be, but is not limited to, the following ways:
1. executing the process 1 and the process 2 simultaneously by using a batch related tool provided by a MATLAB toolbox, and monitoring the running state of the process; for example, but not limited to, starting process 2 using a batch function in the script executing process 1.
2. Executing the process 1 and the process 2 simultaneously by using a threading module provided by Python, and monitoring the running state of the process; for example, but not limited to, process 2 is created using a Thread constructor in a script that executes process 1, and process 2 is started using a start method.
In a specific implementation, in an embodiment of the present invention, determining, according to a third sub-parameter, a map set corresponding to a first environment and including two-dimensional maps of different heights, includes:
judging whether the current value of the second parameter used for representing the number of the two-dimensional map which is determined by statistics is smaller than a preset value or not; the preset value is determined according to the height information and the precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
If not, constructing a map set according to the determined two-dimensional maps;
if yes, when a two-dimensional map corresponding to the ith height is determined in the preset time, adjusting the value of the second parameter; wherein i is the number of the two-dimensional map which is determined currently and is added with one, and i is a positive integer.
The preset value may be, but is not limited to: the ratio of the height information to the accuracy information in the third sub-parameter.
Therefore, the initial value of the second parameter may be set to, but not limited to, 0, and the value of the second parameter may be +1 each time the value of the second parameter is adjusted for a two-dimensional map corresponding to a height is successfully determined, so that after all the two-dimensional maps are successfully determined, the value of the second parameter is a preset value, and at this time, it may be explained that all the two-dimensional maps have been determined, so that the cycle process may be ended, and the determination of the two-dimensional map is not continued.
And, the following embodiments can be referred to but not limited to for the setting of the preset value:
if the height information is set to 1.5 meters and the accuracy information is set to 0.5 meters, 1.5/0.5=3, so the preset value may be set to 3.
Therefore, starting from a height of 0 meter, four two-dimensional maps with different heights need to be determined, and the four heights can be 0 meter, 0.5 meter, 1 meter and 1.5 meter respectively;
If the two-dimensional maps corresponding to the four heights are represented by M0, M1, M2, and M3, respectively, the map set M may be represented by { M0, M1, M2, and M3 }.
Therefore, the map set can be determined in the simple mode, the determined map set is accurate and effective, and the determination efficiency of the map set can be improved, so that the determination efficiency of the three-dimensional map is improved.
Optionally, in an embodiment of the present invention, after determining that the value of the second parameter is smaller than the preset value, the method further includes:
determining a zone bit used for representing whether a two-dimensional map needs to be generated currently as a first mark; the first mark represents that a two-dimensional map is required to be generated currently;
judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
if yes, determining a two-dimensional map corresponding to the ith height in the first environment in a preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
The introduction of the flag bit can indicate whether the two-dimensional map needs to be generated at present, so that the determination efficiency of the map set is improved when the two-dimensional map needs to be generated and when the numerical value of the second parameter needs to be directly adjusted without generating the map.
Optionally, in the embodiment of the present invention, determining, in a preset time, a two-dimensional map corresponding to an ith height in a first environment specifically includes:
determining a two-dimensional map corresponding to the ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark indicates that the two-dimensional map does not need to be regenerated currently;
and when the two-dimensional map is determined within the preset time, modifying the marker bit into a first mark.
The first mark and the second mark may be set to numbers (for example, but not limited to 0 and 1), letters (for example, but not limited to a and B), other marks (for example, but not limited to true and false), and the like, so long as the meaning represented by the flag bit can be distinguished by the first mark and the second mark, and specific implementation forms of the first mark and the second mark are not specifically limited herein.
The point is that when the two-dimensional map corresponding to the ith height is determined, the flag bit is modified to be the second mark, because:
when determining whether or not to determine the two-dimensional map within the preset time (if the two-dimensional map is denoted by Mi), the result of the determination may be no, which indicates that a long time has elapsed in determining the two-dimensional map Mi, or may be understood as: when the two-dimensional map Mi is determined, the process 1 is accidentally ended, so that the process 2 cannot effectively generate the two-dimensional map Mi and is always in a waiting state, and a longer time is spent; at this time, it can be considered that the two-dimensional map Mi is not successfully determined, so that after the preset time is exceeded, the process 2 can be ended, and whether the two-dimensional map Mi needs to be regenerated or not is judged according to the zone bit, so that the generated two-dimensional map Mi of each grid is accurate and effective;
If the result of the determination is yes, it indicates that a long time does not elapse when determining the two-dimensional map Mi, but rather, the determined two-dimensional map Mi is considered valid at this time, so that the flag bit may be modified to be the first flag, which indicates that the two-dimensional map Mi does not need to be regenerated.
The setting of the preset time may be set according to practical situations, and is not limited herein, for example, but not limited to, setting to 90s.
Therefore, each two-dimensional map can be ensured to be accurate and effective through the two-dimensional map determined in the mode, and the determined three-dimensional map is ensured to be accurate and effective when the three-dimensional map is determined according to the map set.
Optionally, in an embodiment of the present invention, when it is determined that the two-dimensional map is not determined within a preset time, the method further includes:
modifying the flag bit into a first flag;
judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
after determining the two-dimensional map corresponding to the ith height in the first environment in the preset time and before adjusting the value of the second parameter, the method further comprises the following steps:
and judging whether the two-dimensional map is needed to be generated currently according to the zone bit.
Therefore, by setting the zone bit, the two-dimensional map can be generated according to whether the zone bit is needed to be generated currently or not, and then the two-dimensional map is generated when the two-dimensional map is needed to be generated, and the numerical value of the second parameter is adjusted without generating the two-dimensional map, so that the process of determining the map set is effectively controlled, and the determined two-dimensional map is ensured to be accurate and effective.
The process of defining a map set is described in a specific embodiment below.
In conjunction with the flow chart shown in fig. 2.
S201, setting the value of the second parameter to be 0;
s202, judging whether the current value of the second parameter is smaller than a preset value; if not, executing S203; if yes, executing S204;
s203, constructing a map set according to each determined two-dimensional map; ending the flow;
s204, modifying the zone bit into a first mark;
s205, judging whether a two-dimensional map needs to be generated according to the zone bit; if not, executing S206; if yes, executing S207;
s206, setting the value of the second parameter to +1; returning to S202;
s207, generating a two-dimensional map corresponding to the ith height;
wherein i is the current value +1 of the second parameter, and when i is 1, the current value of the second parameter represents the number of the two-dimensional map which is determined currently, and the two-dimensional map is represented when the height is 0.
Also, the process of generating the two-dimensional map corresponding to the i-th height may be regarded as the process 2, see in detail above.
S208, modifying the zone bit into a second mark;
s209, judging whether a two-dimensional map is generated within a preset time; if not, ending the process 2, and executing S210; if yes, go back to S205;
s210, modifying the flag bit into a first identifier; returning to S205.
In a specific implementation, in an embodiment of the present invention, determining a simulation environment file for running on a gazebo simulation platform according to a first sub-parameter and a second sub-parameter specifically includes:
selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and when the fact that the preset condition is met is judged according to the determined position information and the first sub-parameter, writing the determined position information into a preset file to obtain a simulation environment file.
In determining the position information of each obstacle, the following modes may be adopted:
mode 1:
optionally, determining the position information of each obstacle in turn, then judging whether the position information of one obstacle meets a preset condition once every time, and if so, writing the position information into a preset file; and then determining the position information of the next obstacle, and judging whether the preset condition is met or not again.
For example, a third parameter is set, an initial value of the third parameter is set to be 1, and when the determined position information of the obstacle is written into a preset file, the value of the third parameter is +1;
correspondingly, the specific process is as follows:
step 1: judging whether the value of the current third parameter is larger than the second sub-parameter; if yes, step 2; if not, step 3;
step 2: the position information of each obstacle is written into the preset file, so that the flow can be ended;
step 3: and (2) indicating that the position information of the obstacle is not written into the preset file, selecting one of the obstacles which is not written into the preset file to generate the position information of the obstacle, writing the position information of the obstacle into the preset file when judging that the preset condition is met, and returning to the step (1) by using the value +1 of the third parameter.
Mode 2:
optionally, after determining the position information of each obstacle, determining whether the position of each obstacle meets the preset condition, writing the position information meeting the preset condition into a preset file, and for the obstacles not meeting the preset condition, determining the position information again until the preset condition is met, and writing the position information of all the obstacles into the preset file.
In addition, when determining the position information of the obstacle, it is possible to randomly generate one piece of position information and then determine whether or not a predetermined condition is satisfied, and of course, one piece of position information may be generated according to a certain rule, which is not limited herein, as long as the position information of the obstacle can be determined.
To illustrate, optionally, when writing the selected environmental model into a preset file, the writing into the preset file may be: the identifier corresponding to the selected environment model (as introduced in the above description) is convenient for reducing the occupied space in the preset file, and avoiding the overlarge obtained simulation environment file, thereby being beneficial to loading and running of the simulation environment file on the gazebo simulation platform.
Therefore, the conflict between the position of each obstacle and the position of the reference object in the first environment can be avoided, the position information of the obstacle is ensured to be effective and is not overlapped with the position information of the reference object, the effectiveness of the determined simulation environment file is improved, and effective data reference is provided for the follow-up determination of the three-dimensional map.
Optionally, in an embodiment of the present invention, the preset conditions are:
the first sub-parameters comprise position coordinates and a maximum envelope radius of each reference object, and the position information of the obstacle comprises the position coordinates and the maximum envelope radius;
For any obstacle: the sum of the maximum envelope radius of the obstacle and the maximum envelope radius of any reference object is a first value, the Euclidean distance between the position coordinates of the obstacle and the position coordinates of the reference object is a second value, and the first value is larger than the second value.
Therefore, through setting the preset conditions, the conflict between the positions of the obstacle and the reference object can be avoided, so that the position information of the obstacle is ensured to be effective, and the effectiveness of the determined simulation environment file is improved.
Optionally, in an embodiment of the present invention, after judging that the preset condition is met according to the determined position information and the first sub-parameter, and before obtaining the simulation environment file, the method further includes:
determining the type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
writing the selected obstacle model into a preset file.
The obstacle model library includes a plurality of obstacle models, and the obstacle models corresponding to different types of obstacles are different, so when writing the selected obstacle model into a preset file, it can be understood that: address information (including information such as identification or type of the obstacle model) of the selected obstacle model is written into a preset file, so that a corresponding obstacle model can be found from an obstacle model library according to the address information.
Also, the library of obstacle models may be, but is not limited to being, saved in the form of a text file.
It is noted that, in a practical situation, the simulation environment file includes not only the position information of the obstacle, the corresponding obstacle model, the environment model, but also other information, such as but not limited to: the gazebo plug-in, ODE physical engine configuration parameters, etc. are used to implement information for loading and running on the gazebo simulation platform, and are not limited herein.
In addition, optionally, in the embodiment of the present invention, the simulation environment file may be a world file, that is, a simulation environment file with a proprietary format used by the gazebo simulation platform, or may also be another form of file, which may be set and selected according to actual needs, and is not limited herein.
The following describes, in specific embodiments, a process for determining a simulation environment file:
in conjunction with the flow chart shown in fig. 3.
S301, selecting an environment model corresponding to a first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
s302, setting an initial value of a third parameter to be 0;
wherein the third parameter represents the number of position information of the obstacle currently written into the preset file.
S303, judging whether the current value of the third parameter is smaller than the second sub-parameter; if not, executing S304; if yes, executing S305;
s304, obtaining a simulation environment file; ending the flow;
s305, randomly generating position information of an ith barrier;
wherein the value of i is the current value +1 of the third parameter.
S306, judging whether the position information of the ith obstacle and the position information of the reference object meet preset conditions or not; if not, returning to S305; if yes, executing S307;
s307, the position information of the ith barrier is written into a preset file;
s308, when the type information of the ith obstacle is determined, selecting an obstacle model corresponding to the type information of the ith obstacle from a preset obstacle model library, and writing the obstacle model into a preset file;
s309, the value of the third parameter is +1; returning to S303.
Based on the same inventive concept, the embodiment of the present invention provides a three-dimensional map determining device, the implementation principle of which is similar to that of the foregoing determining method, and the specific implementation manner of the determining device may refer to the specific embodiment of the foregoing determining method, and the repetition is omitted.
Specifically, the device for determining a three-dimensional map according to the embodiment of the present invention, as shown in fig. 4, may include:
A first unit 401, configured to determine a first parameter corresponding to a three-dimensional map to be determined, where the first parameter includes: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles present in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including altitude information and accuracy information, the first environment including a plurality of stationary references, the obstacles being different from the references;
a second unit 402, configured to determine a simulation environment file for loading on the gazebo simulation platform according to the first sub-parameter and the second sub-parameter;
a third unit 403, configured to determine, according to a third sub-parameter, a map set corresponding to the first environment and including two-dimensional maps with different heights after loading the simulation environment file on the gazebo simulation platform;
and a fourth unit 404, configured to determine a corresponding three-dimensional map according to the determined map set.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
after loading the simulation environment file on the gazebo simulation platform and before determining the corresponding three-dimensional map, reloading the simulation environment file on the gazebo simulation platform when the gazebo simulation platform is judged to be unstable in operation.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map of the ith height is determined and after the two-dimensional map of the (i-1) th height is determined, the two-dimensional map of the ith height is redetermined.
Optionally, in an embodiment of the present invention, the third unit 403 is specifically configured to:
judging whether the current value of the second parameter used for representing the number of the two-dimensional map which is determined by statistics is smaller than a preset value or not; the preset value is determined according to the height information and the precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
if not, constructing a map set according to the determined two-dimensional maps;
if yes, when a two-dimensional map corresponding to the ith height is determined in the preset time, adjusting the value of the second parameter; and i is the number of the two-dimensional maps which are determined currently and is added by one.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
after judging that the value of the second parameter is smaller than a preset value, determining that a zone bit used for indicating whether the two-dimensional map needs to be generated currently is a first mark; the first mark represents that a two-dimensional map is required to be generated currently;
Judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
if yes, determining a two-dimensional map corresponding to the ith height in the first environment in a preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
Optionally, in an embodiment of the present invention, the third unit 403 is specifically configured to:
determining a two-dimensional map corresponding to the ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark indicates that the two-dimensional map does not need to be regenerated currently;
and when the two-dimensional map is determined within the preset time, modifying the marker bit into a first mark.
Optionally, in an embodiment of the present invention, the third unit 403 is further configured to:
when the two-dimensional map is not determined within the preset time, modifying the marker bit into a first mark;
judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
the third unit 403 is further configured to:
after the two-dimensional map corresponding to the ith height in the first environment is determined within the preset time and before the numerical value of the second parameter is adjusted, whether the two-dimensional map is needed to be generated currently is judged according to the zone bit.
Optionally, in an embodiment of the present invention, the second unit 402 is specifically configured to:
Selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and when the fact that the preset condition is met is judged according to the determined position information and the first sub-parameter, writing the determined position information into a preset file to obtain a simulation environment file.
Optionally, in an embodiment of the present invention, the second unit 402 is further configured to:
after judging that the preset conditions are met according to the determined position information and the first sub-parameters, and before obtaining the simulation environment file, determining the type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
writing the selected obstacle model into a preset file.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method for determining a three-dimensional map, comprising:
determining a first parameter corresponding to a three-dimensional map to be determined, wherein the first parameter comprises: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles present in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including altitude information and precision information, the first environment including a plurality of stationary references, the obstacles being different from the references;
determining a simulation environment file for loading on a gazebo simulation platform according to the first subparameter and the second subparameter;
after loading the simulation environment file on the gazebo simulation platform, determining a map set which corresponds to the first environment and comprises two-dimensional maps with different heights according to the third subparameter;
determining a corresponding three-dimensional map according to the determined map set;
the determining, according to the third sub-parameter, a map set corresponding to the first environment and including two-dimensional maps of different heights, including:
Judging whether the current value of the second parameter used for representing the number of the two-dimensional map which is determined by statistics is smaller than a preset value or not; the preset value is determined according to the height information and the precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
if not, constructing the map set according to the determined two-dimensional maps; or,
if yes, when a two-dimensional map corresponding to the ith height is determined in the preset time, adjusting the value of the second parameter; wherein i is the number of the two-dimensional map which is determined currently and is added with one, and i is a positive integer.
2. The method of determining of claim 1, after loading the simulation environment file on the gazebo simulation platform and before determining the corresponding three-dimensional map, further comprising:
and reloading the simulation environment file on the gazebo simulation platform when the gazebo simulation platform is judged to be unstable in operation.
3. The determination method as claimed in claim 2, further comprising:
if the simulation environment file is reloaded on the gazebo simulation platform before the two-dimensional map of the ith height is determined and after the two-dimensional map of the (i-1) th height is determined, the two-dimensional map of the ith height is redetermined; i is a positive integer.
4. The determination method according to claim 1, further comprising, after determining that the value of the second parameter is smaller than the preset value:
determining a zone bit used for representing whether a two-dimensional map needs to be generated currently as a first mark; the first mark represents that a two-dimensional map is required to be generated currently;
judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
if yes, determining a two-dimensional map corresponding to the ith height in the first environment in a preset time, and adjusting the value of the second parameter;
if not, directly adjusting the value of the second parameter.
5. The method for determining the height of the first environment according to claim 4, wherein determining the two-dimensional map corresponding to the i-th height in the first environment within the preset time comprises:
determining a two-dimensional map corresponding to the ith height in the first environment;
modifying the zone bit into a second mark, wherein the second mark represents that the two-dimensional map does not need to be regenerated currently;
and when the two-dimensional map is determined within the preset time, modifying the zone bit into the first mark.
6. The determination method according to claim 5, wherein when it is judged that the two-dimensional map is not determined within the preset time, further comprising:
Modifying the flag bit to the first flag;
judging whether a two-dimensional map is needed to be generated currently according to the zone bit;
after determining the two-dimensional map corresponding to the ith altitude in the first environment in the preset time and before adjusting the value of the second parameter, the method further comprises the following steps:
judging whether a two-dimensional map is needed to be generated at present according to the zone bit.
7. The method for determining according to claim 1, wherein determining a simulation environment file for running on a gazebo simulation platform according to the first sub-parameter and the second sub-parameter specifically comprises:
selecting an environment model corresponding to the first sub-parameter from a preset environment model library, and writing the selected environment model into a preset file;
determining position information of each obstacle;
and when judging that the preset conditions are met according to the determined position information and the first sub-parameters, writing the determined position information into the preset file to obtain the simulation environment file.
8. The method for determining as claimed in claim 7, wherein the preset condition is:
the first sub-parameters comprise position coordinates and a maximum envelope radius of each reference object, and the position information of the obstacle comprises the position coordinates and the maximum envelope radius;
For any of the obstacles: the sum of the maximum envelope radius of the obstacle and the maximum envelope radius of any reference object is a first value, the Euclidean distance between the position coordinates of the obstacle and the position coordinates of the reference object is a second value, and the first value is larger than the second value.
9. The method of determining according to claim 7, further comprising, after determining that a predetermined condition is satisfied based on each of the determined position information and the first sub-parameter, and before obtaining the simulation environment file:
determining the type information of each obstacle;
selecting an obstacle model corresponding to the type information of each obstacle from a preset obstacle model library;
writing the selected obstacle model into the preset file.
10. A three-dimensional map determining apparatus, comprising:
the first unit is used for determining a first parameter corresponding to the three-dimensional map to be determined, and the first parameter comprises: a first sub-parameter for representing a first environment corresponding to the three-dimensional map, a second sub-parameter for representing the number of obstacles present in the first environment, and a third sub-parameter for representing first information of the three-dimensional map, the first information including altitude information and precision information, the first environment including a plurality of stationary references, the obstacles being different from the references;
The second unit is used for determining a simulation environment file for loading on the gazebo simulation platform according to the first subparameter and the second subparameter;
a third unit, configured to determine, according to the third sub-parameter, a map set corresponding to the first environment and including two-dimensional maps with different heights after the simulation environment file is loaded on the gazebo simulation platform;
a fourth unit, configured to determine a corresponding three-dimensional map according to the determined map set;
the third unit is specifically configured to:
judging whether the current value of the second parameter used for representing the number of the two-dimensional map which is determined by statistics is smaller than a preset value or not; the preset value is determined according to the height information and the precision information in the third sub-parameter, and different two-dimensional maps in the two-dimensional map set correspond to different heights;
if not, constructing the map set according to the determined two-dimensional maps; or,
if yes, when a two-dimensional map corresponding to the ith height is determined in the preset time, adjusting the value of the second parameter; wherein i is the number of the two-dimensional map which is determined currently and is added with one, and i is a positive integer.
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| CN112712595B (en) * | 2021-01-19 | 2024-10-29 | 北京三快在线科技有限公司 | Method and device for generating simulation environment |
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