CN113124849B - Indoor path planning method and device, electronic equipment and storage medium - Google Patents
Indoor path planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses an indoor path planning method, an indoor path planning device, electronic equipment and a storage medium. The method comprises the steps of obtaining a grid map of an area to be planned, traversing the area to be planned by taking an initial point of the grid map as a starting point, determining at least one point to be traversed of the current traversing point, estimating a track formed by the at least one point to be traversed according to a form category and/or a unit trend formed by the point to be traversed and the current traversing point, determining a target point to be traversed from the at least one point to be traversed based on an estimated result, determining a path of the area to be planned according to the current traversing point and the target point to be traversed, estimating a planned path in the traversing process, solving the problems of low cleaning efficiency and large calculated amount in the prior art, achieving the purposes of determining an ideal target point to be traversed according to an estimated result in the traversing process, reducing the calculated amount in the traversing process and improving the traversing efficiency.
Description
Technical Field
The embodiment of the invention relates to an indoor navigation technology, in particular to an indoor path planning method, an indoor path planning device, electronic equipment and a storage medium.
Background
In recent years, with the gradual maturity of the outdoor navigation technology, indoor path planning is also rising. Indoor path planning presents many challenges in terms of navigation efficiency and compliance with user behavior expectations due to the complexity of the indoor environment.
In the prior art, many indoor planning methods are adopted by an indoor robot, for example, a random coverage type cleaning method, a random collision method, a neural network method and a region segmentation method are adopted, but the methods have the defects of low cleaning efficiency, large calculated amount, difficulty in realizing global optimization in a complex environment and the like, and the indoor planning execution effect is poor.
Disclosure of Invention
The embodiment of the invention provides an indoor path planning method, an indoor path planning device, electronic equipment and a storage medium, so as to achieve the effect of planning a global optimal path in a short time.
In a first aspect, an embodiment of the present invention provides an indoor path planning method, including:
acquiring a grid map of an area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
Determining at least one point to be traversed of a current traversing point according to the current traversing point, wherein the point to be traversed is an un-traversed point adjacent to the current traversing point in a passable area in the grid map;
estimating a track formed by the at least one point to be traversed according to a morphological category and/or a unit trend formed by the point to be traversed and the current traversing point;
and determining a target point to be traversed from the at least one point to be traversed based on the estimation result, and determining the path of the area to be planned according to the current traversing point and the target point to be traversed.
In a second aspect, an embodiment of the present invention further provides an indoor path planning apparatus, including:
the traversing module is used for acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
the to-be-traversed point determining module is used for determining at least one to-be-traversed point of the current traversed point for the current traversed point, wherein the to-be-traversed point is an un-traversed point adjacent to the current traversed point in a passable area in the grid map;
the estimation module is used for estimating the track formed by the at least one point to be traversed according to the morphological category and/or the unit trend formed by the point to be traversed and the current traversing point;
And the planning path determining module is used for determining a target point to be traversed from the at least one point to be traversed based on the estimation result, and determining the path of the area to be planned according to the current traversing point and the target point to be traversed.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the indoor path planning method according to any one of the first aspects when executing the computer program.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer executable instructions, wherein the computer executable instructions when executed by a computer processor implement the indoor path planning method according to any one of the first aspects.
According to the technical scheme provided by the embodiment of the invention, the grid map of the area to be planned is obtained, the initial point of the grid map is used as a starting point to carry out traversal on the area to be planned, at least one point to be traversed of the current traversal point is determined, the track formed by the at least one point to be traversed is estimated according to the form category and/or the unit trend formed by the point to be traversed and the current traversal point, the target point to be traversed is determined from the at least one point to be traversed based on the estimated result, and the path of the area to be planned is determined according to the current traversal point and the target point to be traversed, so that the problems of low cleaning efficiency and large calculated amount in the prior art are solved, the purposes of estimating the planned path in the traversal process, determining the ideal target point to be traversed according to the estimated result are achieved, and the effects of reducing the calculated amount in the traversal process and improving the traversal efficiency are achieved.
Drawings
Fig. 1 is a flow chart of an indoor path planning method according to a first embodiment of the present invention;
fig. 2 is a flow chart of an indoor path planning method according to a second embodiment of the present invention;
FIG. 3a is a schematic diagram illustrating a path according to a second embodiment of the present invention;
FIG. 3b is a schematic diagram illustrating another embodiment of a path according to the second embodiment of the present invention;
fig. 4 is a flow chart of an indoor path planning method according to a third embodiment of the present invention;
fig. 5a is a schematic diagram of a grid map according to a third embodiment of the present invention;
fig. 5b is a schematic diagram of a grid map obtained by performing obstacle processing on the grid map according to a third embodiment of the present invention;
fig. 6 is a flow chart of an indoor path planning method according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an indoor path planning device according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flow chart of an indoor path planning method according to an embodiment of the present invention, where the embodiment is applicable to a complex environment with irregular shapes and more obstacles, and a path with better overall situation is planned in a shorter time. Referring specifically to fig. 1, the method may include the steps of:
s110, acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
The area to be planned may be any indoor area, for example, a parking lot, a mall, a house being constructed, a subway station, an airport, and the like. The grid map can be understood as one or more groups of matrixes obtained by shrinking the map image of the area to be planned according to a specific proportion, and the position information of the object on the map image can be represented by the coordinate information on the matrixes. Alternatively, a breadth-first algorithm may be employed to traverse all grid points.
The initial point may be any coordinate point on the grid map that does not belong to the obstacle region. For example, when the grid map is built, coordinate information is given to each point, an absolute zero point is set, the initial point may be the absolute zero point or another coordinate point different from the absolute zero point, and the position of the initial point is not particularly limited in this embodiment.
In this embodiment, when the moving object moves on the grid map, in order to obtain more planned paths, the size of the grid map may be smaller than the size of the moving object, for example, the size of the grid is one half, one third, or one fourth of the size of the moving object. In this way, when the moving object traverses the area to be planned with the initial point as the starting point, the grid size is taken as the moving step length, and more paths can be obtained. Compared with the prior art, the method has the advantages that the size of the moving object is used as the moving step length, and the purpose of finer path planning can be achieved.
S120, determining at least one point to be traversed of the current traversing point for the current traversing point.
The current traversal point can be understood as any point which is not traversed in the grid map, and can be an initial point or any grid point in the traversal process, and the point to be traversed of the current traversal point can be an unrevealed point adjacent to the current traversal point in a passable area in the grid map. For example, the points to be traversed are the grid points above, below, left, and right of the current traversal point.
It is understood that any one area to be planned may include a passable area and an obstacle area, and different attribute values are configured for the passable area and the obstacle area in advance when generating the grid map. For example, the attribute value of the passable region is 0, and the attribute value of the obstacle region is 1. Illustratively, for the current traversal point traversal, find the non-traversed point with attribute value 0 in the four directions up, down, left and right of the current traversal point to determine the next point to be traversed, i.e., determine at least one point to be traversed.
S130, estimating the track formed by at least one point to be traversed according to the morphological category and/or the unit trend formed by the point to be traversed and the current traversing point.
The form category may be understood as a trend of a path formed from a point to be traversed to a current traversing point, for example, a straight form, a turning form, and the like; cell orientation may be understood as the direction of a cell from a point to be traversed to a grid comprised by a current traversing point, and may take two grids as one cell and determine the direction of the cell, e.g., determine whether the grid cell is transverse or longitudinal.
It will be appreciated that, in order to purposefully select a point to be traversed during the traversal process, the formed trajectory may be estimated during the traversal process according to a morphological category and/or a cell trend formed by the point to be traversed and the current traversal point, so as to determine the point to be traversed capable of forming a better path according to the estimation result. Therefore, by estimating the formed track in the traversal process, the better selection point can be selected in real time, the subsequent real-time determination of the better path is facilitated, and the path planning efficiency can be improved.
And S140, determining a target point to be traversed from at least one point to be traversed based on the estimated value result, and determining a path of the area to be planned according to the current point to be traversed and the target point to be traversed.
It will be appreciated that, when the estimation result is determined, the target point to be traversed may be determined according to the estimation result, for example, a track with a larger estimation result is reserved, and the target point to be traversed is determined according to the point to be traversed of the track, or a track with a smaller estimation result is deleted, so as to reduce the number of path planning.
The above-mentioned S110-S140 are the whole process of path planning, and optionally, the process of path planning can be specifically explained by the following steps:
(A) A list is established.
(B) The starting point data (including point coordinates, grid properties, direction, estimate) is placed in this list.
(C) Points in the list are traversed to find points around the specified point. The movement step is the object size.
(D) The conditions for the new point legal are: no obstacle is included in the new point in the map area without access. If not, this is ignored.
(E) The region grid attribute where the new point is located is marked as 2. A grid attribute is copied, an estimate is calculated, and the new point is stored in the new list.
(F) If the new list is not empty, the new list is replaced with the old list and the process goes to step C. Otherwise, ending.
According to the technical scheme provided by the embodiment of the invention, the grid map of the area to be planned is obtained, the initial point of the grid map is used as a starting point to carry out traversal on the area to be planned, at least one point to be traversed of the current traversal point is determined, the track formed by the at least one point to be traversed is estimated according to the form category and/or the unit trend formed by the point to be traversed and the current traversal point, the target point to be traversed is determined from the at least one point to be traversed based on the estimated result, and the path of the area to be planned is determined according to the current traversal point and the target point to be traversed, so that the problems of low cleaning efficiency and large calculated amount in the prior art are solved, the purposes of estimating the planned path in the traversal process, determining the ideal target point to be traversed according to the estimated result are achieved, and the effects of reducing the calculated amount in the traversal process and improving the traversal efficiency are achieved.
Example two
Fig. 2 is a flow chart of an indoor path planning method according to a second embodiment of the present invention. The technical solution of the present embodiment is refined on the basis of the foregoing embodiment, and optionally, the estimating, according to a morphological category and/or a cell trend formed by the point to be traversed and the current traversing point, a trajectory formed by the at least one point to be traversed includes: and determining an estimated value result of the track formed by the at least one point to be traversed according to the weight of the morphological category and/or the weight of the unit trend. Referring specifically to fig. 2, the method of this embodiment may include the following steps:
s210, acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
S220, determining at least one point to be traversed of the current traversing point for the current traversing point.
S230, determining an estimated result of the track formed by at least one point to be traversed according to the weight of the morphological category and/or the weight of the unit trend.
The morphological category formed by the point to be traversed and the current traversing point can be understood as being determined according to the point to be traversed, the current traversing point and the last traversing point of the current traversing point, and can comprise straight, turning, head dropping and the like. The cell trend may be understood as a trend formed by the points to be traversed and the current traversal point, that is, the cell trend is used to describe two directions of each grid point, and may include a lateral direction and a longitudinal direction.
Alternatively, the assignment may be decremented sequentially for straight going, turning and turning around in the morphology category, and the same value or different values may be assigned for the lateral and longitudinal directions in the trend. Illustratively, the weights of straight, turning and turning are 3, 2 and 1 in turn, the transverse weight is 3, the longitudinal weight is 1, and as shown in fig. 3a and 3b, a morphological description diagram of a path is shown, and it can be seen by comparing fig. 3a and 3b that the straight and transverse directions in fig. 3a are more than the straight and transverse directions in fig. 3b, and the turning, turning and longitudinal directions in fig. 3a are less than those in fig. 3b, and by determining the morphological categories and the number of unit trends in fig. 3a and 3b respectively, and combining different weights, it can be determined that the estimated value of fig. 3a is greater than the estimated value of fig. 3 b.
And S240, determining a target point to be traversed from at least one point to be traversed based on the estimated value result, and determining a path of the area to be planned according to the current point to be traversed and the target point to be traversed.
It may be understood that S230 is to estimate the planned path in the traversal process, and in this step, a point to be traversed whose estimation result is greater than the preset threshold may be determined as a target point to be traversed, where the target point to be traversed is a point to be traversed next to the current point to be traversed. For example, after the estimation result is obtained, the estimation result may be ranked, and the planned path may be screened according to the ranking result, that is, the point to be traversed with the estimation result greater than the preset threshold is reserved, the point to be traversed is determined as the target point to be traversed, and the point to be traversed with the estimation result not greater than the preset threshold is discarded. By the method, the estimation, sequencing and screening operations can be realized in the traversal process, so that the ideal target point to be traversed can be determined in the traversal process, and the aim of reducing the calculated amount is fulfilled.
According to the technical scheme provided by the embodiment of the invention, the estimated value result of the track formed by at least one point to be traversed is determined according to the weight of the morphological category and/or the weight of the unit trend, and the point to be traversed with the estimated value result being larger than the preset threshold value is determined as the target point to be traversed, so that the real-time estimation, sequencing and screening operation in the traversing process can be realized, the ideal target point to be traversed can be rapidly determined, and the aim of reducing the calculated amount is fulfilled.
Example III
Fig. 4 is a flow chart of an indoor path planning method according to a third embodiment of the present invention. The technical solution of this embodiment adds a new step on the basis of the foregoing embodiment, optionally, before traversing the area to be planned with the initial point of the grid map as a starting point, the method further includes: and acquiring the size of a target object, and determining a passable area in the area to be planned according to the size of the target object. Referring specifically to fig. 4, the method of this embodiment may include the following steps:
s410, obtaining the size of the target object, and determining the accessible area in the area to be planned according to the size of the target object.
It will be appreciated that in a grid map, for a larger size target object, some of the passable areas cannot pass through the target object, that is, some of the passable areas are actually obstacle areas with respect to the target object. As shown in fig. 5a, a section of the accessible region is included above the grid map in fig. 5a, and is actually accessible for a target object having a size smaller than the size of the accessible region, and is actually an obstacle region for a target object having a size not smaller than the size of the accessible region. Thus, for a target object with a slightly larger size, some accessible areas need to be processed identically to the obstacle area, and as shown in fig. 5b, a schematic diagram of the grid map obtained by performing the obstacle processing on the grid map is shown.
Alternatively, the accessible region in the region to be planned may be determined according to the size of the target object by:
(a) Setting target object marks in the grid map according to the size equal proportion of the target objects;
(b) Traversing the area to be planned by taking the initial point of the grid map as a starting point;
(c) When the target object mark is positioned at the current traversal point, determining non-traversal grid points adjacent to the current traversal point based on a preset step length;
(d) When the target object mark moves to the adjacent non-traversed grid point, writing the adjacent non-traversed grid point into the closed set, and controlling the target object mark to move to the adjacent non-traversed grid point;
(e) The passable region is determined from the grid points stored in the closed set.
It can be understood that the grid map can be obtained by shrinking the indoor map according to a specific proportion, and similarly, the target object can be reduced according to the specific proportion according to the equal proportion principle, so as to obtain the target object identification. Wherein the preset step size can be a grid size, and the closed set comprises points where traversal is completed.
In this embodiment, the above steps (a) to (e) can be explained by the following means:
(1) An open queue and a closed set are established.
(2) The initial points are placed in an open queue and a closed set.
The open queue is used for temporarily storing non-traversed points, the first-in first-out principle is met, and the closed set is used for storing grid points after traversing.
(3) The foremost point is fetched from the open queue.
It will be appreciated that after the initial point is placed in the start queue, the first point in the start queue is the initial point, the non-traversed points adjacent to the initial point and not belonging to the obstacle region are ordered out of the queue, and after the initial point is taken out, the non-traversed points adjacent to the initial point and not belonging to the obstacle region will perform the next traversal.
(4) An attempt is made to move a minimum step in four directions up, down, left and right from the take-out point.
The minimum step length is the preset step length, namely the grid size, and more paths can be obtained by moving according to the grid size, so that finer path planning is achieved.
(5) If the new point is in the closed set, it is ignored.
Where a new point may be understood as an unremoved point adjacent to the initial point and not belonging to the obstacle region, if the new point is in the closed set, i.e. if the unremoved point is traversed, the point is not traversed again.
(6) Judging whether the new point is available, if so, marking the point as the available point, and storing the available point into an open queue and a closed set.
If the new point is not traversed and belongs to the accessible area, the new point can be put into the open queue for traversing, and the new point is put into the closed set after traversing.
(7) If the open queue is empty, it ends. If not, go to step (3).
If there are no new points in the open queue, i.e., all grid points of the grid map have been traversed, the process of determining certain accessible areas as obstacle areas according to the size of the target object may be completed. Thus, by determining some accessible areas as obstacle areas according to the size of the target object, it is possible to reduce the traversal of accessible areas smaller than the size of the target object, reduce the calculation amount of path planning, and improve the path planning efficiency.
S420, acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
S430, determining at least one point to be traversed of the current traversing point.
S440, estimating the track formed by at least one point to be traversed according to the morphological category and/or the unit trend formed by the point to be traversed and the current traversing point.
And S450, determining a target point to be traversed from at least one point to be traversed based on the estimated value result, and determining a path of the area to be planned according to the current point to be traversed and the target point to be traversed.
According to the technical scheme provided by the embodiment of the invention, before the area to be planned is traversed by taking the initial point of the grid map as the starting point, the size of the target object is obtained, the accessible area in the area to be planned is determined according to the size of the target object, and the accessible area smaller than the size of the target object is determined as the obstacle area in advance, so that the number of points to be traversed is reduced in the subsequent traversal process, the calculation amount of path planning is reduced, and the path planning efficiency is improved.
Example IV
Fig. 6 is a flow chart of an indoor path planning method according to a fourth embodiment of the present invention. The technical solution of the present embodiment is refined on the basis of the foregoing embodiment, and optionally, the determining, according to the current traversal point and the target to-be-traversed point, the path of the to-be-planned area includes: when the current traversal point does not have adjacent non-traversal points and the non-traversal points are included in the accessible area of the grid map, determining that the adjacent points of the current traversal point are next traversal points according to the direction of the non-traversal points relative to the current traversal point until the non-traversal points do not exist in the grid map. Referring specifically to fig. 6, the method of this embodiment may include the following steps:
And S610, acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point.
S620, for the current traversal point, determining at least one point to be traversed of the current traversal point.
S630, estimating the track formed by at least one point to be traversed according to the morphological category and/or the unit trend formed by the point to be traversed and the current traversing point.
And S640, determining a target point to be traversed from at least one point to be traversed based on the estimation result.
S650, if the current traversal point does not have adjacent non-traversal points, and the non-traversal points are included in the passable area of the grid map, determining that the adjacent points of the current traversal point are next traversal points according to the direction of the non-traversal points relative to the current traversal point until the non-traversal points do not exist in the grid map.
It will be appreciated that during the traversal process, points around the current point may be visited, but there are still points not traversed in the entire map. In this case, in this implementation, the modified a-algorithm may find the nearest non-travelling region to find the nearest point, and jump to the nearest point directly according to the direction of the non-travelling point relative to the current travelling point until there is no non-travelling point in the whole grid map.
Alternatively, finding the nearest point can be explained by:
initializing an open queue and a closed dictionary.
(II) putting the current point into an open queue and a closed dictionary.
The open queue is used for storing the current point, the first-in first-out principle is met, and the closed dictionary is used for storing the traversed grid point.
(III) the foremost point is fetched from the open queue.
(IV) checking the points in the four directions of up, down, left and right of the extraction point.
(V) if the new point area grid attribute contains an obstacle, ignore.
The new point area may be an area that is searched according to an arbitrary step length with the current point as a starting point, may be an obstacle area, or may be a passable area, and if the new area is an obstacle area, the new point area may be directly ignored.
(VI) if the new point area grid attribute is all unaccessed, ending and turning to step IX.
If none of the grid points of the new point area is accessed, namely the grid attribute of the new point area is not accessed, the traversal of the area is directly ended.
(VII) if the new point area does not contain an obstacle, placing the point in an open queue and a closed dictionary.
(VIII) if the open queue is not empty, go to step III.
(IX) using a closed dictionary, the entire path of the jump is restored and its estimate is calculated.
If the grid points of the new point area do not contain the obstacle area and the grid points which are not accessed exist, the grid points which are not accessed can be put into an open queue and a closed dictionary, the grid points which are not accessed are determined to be the next traversal points, the step VIII is executed until the open queue is empty, the path of the area to be planned is determined through the grid points in the closed dictionary, and the estimated value of the path is calculated. Alternatively, the estimation result may be subtracted according to the jumping point data between the current traversal point and the non-traversal point. Therefore, each grid point of the grid map can be traversed, and the condition of traversal omission is avoided.
Optionally, if the current traversal point of the graph has an adjacent non-traversal point, the adjacent non-traversal point is taken as a target to-be-traversed point, and the path of the area to be planned is directly determined according to the current traversal point and the target to-be-traversed point.
According to the technical scheme provided by the embodiment of the invention, if the current traversal point does not have adjacent non-traversal points and the accessible area of the grid map comprises the non-traversal points, the adjacent points of the current traversal point are determined to be the next traversal points according to the direction of the non-traversal points relative to the current traversal point until the non-traversal points do not exist in the grid map, so that the problem that the non-traversal grid points are omitted because a path planning mode cannot be carried out on all the grid points of the grid map in the prior art is solved, the purpose of traversing all the grid points is achieved, and the effect of carrying out full-coverage path planning on the grid map is achieved.
Example five
Fig. 7 is a schematic structural diagram of an indoor path planning device according to a fifth embodiment of the present invention. Referring to fig. 7, the apparatus includes: a traversal module 71, a point to be traversed determination module 72, an estimation module 73 and a planned path determination module 74.
The traversing module 71 is configured to obtain a grid map of the area to be planned, and traverse the area to be planned with an initial point of the grid map as a starting point;
a to-be-traversed point determining module 72, configured to determine, for a current traversed point, at least one to-be-traversed point of the current traversed point, where the to-be-traversed point is an un-traversed point adjacent to the current traversed point in a passable area in the grid map;
an estimation module 73, configured to estimate a trajectory formed by at least one point to be traversed according to a morphological category and/or a unit trend formed by the point to be traversed and the current point to be traversed;
the planning path determination module 74 determines a path of the area to be planned from the current traversal point and the target traversal point by determining the target traversal point from the at least one traversal point based on the estimation result pair.
On the basis of the above technical solutions, the morphology category is determined according to the point to be traversed, the current traversing point and the last traversing point of the current traversing point, and the morphology category includes: straight, turning and turning around, the unit trend includes: transverse and longitudinal;
The estimation module 73 is further configured to determine an estimation result of the trajectory formed by the at least one point to be traversed according to the weight of the morphological category and/or the weight of the unit trend.
On the basis of the above technical solutions, the planned path determining module 74 is further configured to determine, as the target point to be traversed, the point to be traversed whose estimation result is greater than the preset threshold.
On the basis of the technical schemes, the device further comprises: a passable region determination module;
the accessible region determining module is used for acquiring the size of the target object and determining the accessible region in the region to be planned according to the size of the target object.
On the basis of the technical schemes, the accessible region determining module is also used for setting the target object identification according to the size equal proportion of the target object in the grid map;
traversing the area to be planned by taking the initial point of the grid map as a starting point;
when the target object mark is positioned at the current traversal point, determining non-traversal grid points adjacent to the current traversal point based on a preset step length;
when the target object mark moves to the adjacent non-traversed grid point, writing the adjacent non-traversed grid point into the closed set, and controlling the target object mark to move to the adjacent non-traversed grid point;
The passable region is determined from the grid points stored in the closed set.
Based on the above embodiments, the planned path determining module 74 is further configured to determine, if the current traversed point does not have an adjacent non-traversed point and the passable area of the grid map includes the non-traversed point, that the adjacent point of the current traversed point is a next traversed point according to a direction of the non-traversed point relative to the current traversed point until the non-traversed point does not exist in the grid map.
On the basis of the technical schemes, the device further comprises: a deducting module;
the deduction module is used for deducting the estimated value result according to the jumping point data from the current traversal point to the non-traversal point.
According to the technical scheme provided by the embodiment of the invention, the grid map of the area to be planned is obtained, the initial point of the grid map is used as a starting point to carry out traversal on the area to be planned, at least one point to be traversed of the current traversal point is determined, the track formed by the at least one point to be traversed is estimated according to the form category and/or the unit trend formed by the point to be traversed and the current traversal point, the target point to be traversed is determined from the at least one point to be traversed based on the estimated result, and the path of the area to be planned is determined according to the current traversal point and the target point to be traversed, so that the problems of low cleaning efficiency and large calculated amount in the prior art are solved, the purposes of estimating the planned path in the traversal process, determining the ideal target point to be traversed according to the estimated result are achieved, and the effects of reducing the calculated amount in the traversal process and improving the traversal efficiency are achieved.
Example six
Fig. 8 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention. Fig. 8 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 8 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 8, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive"). Although not shown in fig. 8, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The memory 28 may include at least one program product having a set of program modules (e.g., a traversal module 71, a point to traverse determination module 72, an estimation module 73, and a planned path determination module 74) configured to perform the functions of the various embodiments of the invention.
The program/utility 44 having a set of program modules 46 (e.g., the traversal module 71, the point to traverse determination module 72, the estimation module 73, and the planned path determination module 74) of the indoor path planning apparatus may be stored, for example, in the memory 28, such program modules 46 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 46 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement an indoor path planning method provided by an embodiment of the present invention, the method includes:
acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
determining at least one point to be traversed of the current traversing point for the current traversing point, wherein the point to be traversed is an un-traversed point adjacent to the current traversing point in a passable area in the grid map;
estimating a track formed by at least one point to be traversed according to a morphological category and/or a unit trend formed by the point to be traversed and the current traversing point;
and determining a target point to be traversed from at least one point to be traversed based on the estimated value result, and determining a path of the area to be planned according to the current point to be traversed and the target point to be traversed.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement an indoor path planning method provided by an embodiment of the present invention.
Of course, it will be understood by those skilled in the art that the processor may also implement the technical solution of the indoor path planning method provided by any embodiment of the present invention.
Example seven
The seventh embodiment of the present invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements an indoor path planning method as provided by the embodiment of the present invention, the method comprising:
acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
determining at least one point to be traversed of the current traversing point for the current traversing point, wherein the point to be traversed is an un-traversed point adjacent to the current traversing point in a passable area in the grid map;
estimating a track formed by at least one point to be traversed according to a morphological category and/or a unit trend formed by the point to be traversed and the current traversing point;
and determining a target point to be traversed from at least one point to be traversed based on the estimated value result, and determining a path of the area to be planned according to the current point to be traversed and the target point to be traversed.
Of course, the computer readable storage medium provided by the embodiments of the present invention, on which the computer program stored is not limited to the above method operations, but may also perform the related operations in the indoor path planning method provided by any embodiment of the present invention.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device.
The computer readable signal medium may include at an initial point, a current traversal point, a point to be traversed, etc., in which computer readable program code is embodied. The initial point of such propagation, the current traversal point, the point to be traversed, etc. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It should be noted that, in the embodiment of the indoor path planning apparatus, each module included is only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding function can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. An indoor path planning method, comprising:
acquiring a grid map of an area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
determining at least one point to be traversed of a current traversing point according to the current traversing point, wherein the point to be traversed is an un-traversed point adjacent to the current traversing point in a passable area in the grid map;
estimating a track formed by the at least one point to be traversed according to a morphological category and/or a unit trend formed by the point to be traversed and the current traversing point; the method comprises the steps of respectively assigning values to the morphology category and/or the unit trend, wherein the morphology category is determined according to the point to be traversed, the current traversing point and the last traversing point of the current traversing point, and the morphology category comprises: straight, turning and turning around, the unit trend includes: transverse and longitudinal;
And determining a target point to be traversed from the at least one point to be traversed based on the estimation result, and determining the path of the area to be planned according to the current traversing point and the target point to be traversed.
2. The method according to claim 1, wherein said estimating the trajectory formed by the at least one point to be traversed according to the morphological category and/or the cell trend formed by the point to be traversed and the current traversing point comprises:
and determining an estimated value result of the track formed by the at least one point to be traversed according to the weight of the morphological category and/or the weight of the unit trend.
3. The method according to claim 1 or 2, wherein determining a target to-be-traversed point from the at least one to-be-traversed point based on the pair of estimation results comprises:
and determining the point to be traversed of which the estimated value result is larger than a preset threshold value as a target point to be traversed.
4. The method of claim 1, further comprising, prior to traversing the area to be planned with the initial point of the grid map as a starting point:
and acquiring the size of a target object, and determining a passable area in the area to be planned according to the size of the target object.
5. The method of claim 4, wherein determining the available area of the areas to be planned according to the size of the target object comprises:
setting a target object identifier in the grid map according to the size equal proportion of the target object;
traversing the area to be planned by taking the initial point of the grid map as a starting point;
when a target object mark is positioned at a current traversal point, determining non-traversal grid points adjacent to the current traversal point based on a preset step length;
when the target object mark moves to the adjacent non-traversed grid point, writing the adjacent non-traversed grid point into a closed set, and controlling the target object mark to move to the adjacent non-traversed grid point;
and determining a passable area according to the grid points stored in the closed set.
6. The method of claim 1, wherein the determining the path of the area to be planned from the current traversal point and the target point to be traversed comprises:
and if the current traversal point does not have adjacent non-traversal points and the non-traversal points are included in the passable area of the grid map, determining that the adjacent points of the current traversal point are next traversal points according to the direction of the non-traversal points relative to the current traversal point until the non-traversal points do not exist in the grid map.
7. The method of claim 6, wherein the method further comprises:
and deducting the estimated value result according to the jumping point data from the current traversal point to the non-traversal point.
8. An indoor path planning apparatus, comprising:
the traversing module is used for acquiring a grid map of the area to be planned, and traversing the area to be planned by taking an initial point of the grid map as a starting point;
the to-be-traversed point determining module is used for determining at least one to-be-traversed point of the current traversed point for the current traversed point, wherein the to-be-traversed point is an un-traversed point adjacent to the current traversed point in a passable area in the grid map;
the estimation module is used for estimating the track formed by the at least one point to be traversed according to the morphological category and/or the unit trend formed by the point to be traversed and the current traversing point; the method comprises the steps of respectively assigning values to the morphology category and/or the unit trend, wherein the morphology category is determined according to the point to be traversed, the current traversing point and the last traversing point of the current traversing point, and the morphology category comprises: straight, turning and turning around, the unit trend includes: transverse and longitudinal;
And the planning path determining module is used for determining a target point to be traversed from the at least one point to be traversed based on the estimation result, and determining the path of the area to be planned according to the current traversing point and the target point to be traversed.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the indoor path planning method of any one of claims 1-7 when the computer program is executed by the processor.
10. A storage medium containing computer executable instructions which when executed by a computer processor implement the indoor path planning method of any one of claims 1-7.
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