CN104102219A - Intelligent shopping cart, planning method and device of travelling path of intelligent shopping cart - Google Patents
Intelligent shopping cart, planning method and device of travelling path of intelligent shopping cart Download PDFInfo
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- CN104102219A CN104102219A CN201410324284.XA CN201410324284A CN104102219A CN 104102219 A CN104102219 A CN 104102219A CN 201410324284 A CN201410324284 A CN 201410324284A CN 104102219 A CN104102219 A CN 104102219A
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Abstract
The invention relates to the obstacle avoidance path planning technical field and provides an intelligent shopping cart, a planning method and device of the travelling path of the intelligent shopping cart. The planning method of the travelling paths of the intelligent shopping cart includes the following steps that: a starting point and a target point of the intelligent shopping cart are determined; the starting point and the target point are connected with each other through a straight line in a space environment, so that a virtual connection line in the space can be obtained; all vertices of each of obstacles through which the virtual connection line pass, the starting point and the target point are connected with each other through straight lines, and all visual lines are reserved, wherein the visual lines are line segments that do not pass through any obstacles; each reserved visual line is communicated with each other so as to form paths to be selected; and the length of each path to be selected is calculated, and a shortest path to be selected is determined as the travelling path of the intelligent shopping cart. With the planning method and device of the travelling path of the intelligent shopping cart of the invention adopted, the planning efficiency of the travelling path of the intelligent shopping cart can be improved.
Description
Technical field
The present invention relates to obstacle-avoiding route planning technical field, relate in particular to a kind of planing method, device and intelligent shopping guide car of intelligent shopping guide car driving path.
Background technology
Due to information and industrial high speed development and the deep change of infotech, the built-in terminal with Intelligent treatment function has been striden into civilian life, from simple Smart Home to complicated communication facilities, again to factory's lathe of huge precision, embedded device is ubiquitous is looped around people at one's side.Intelligent shopping guide car is a kind of shopping guide of collection, bargain goods introduction, carry the intelligent terminal of the functions such as goods, information interaction, and the appearance of the intelligent shopping guide car free choice of goods that will make things convenient for customers, improves supermarket efficiency of operation.Because the layout of the shopping places such as supermarket, market is to combine do shopping custom, environmental structure cost, the many factors such as aesthetic of the building structure of place, supermarket, client to cause supermarket shelves to be put having certain regularity and symmetry, apply thus and traditional keep away barrier routing algorithm and may produce unnecessary expense.
The traditional Visual Graph method of the general employing of planing method of the intelligent shopping guide car driving path of prior art solves keeps away barrier path, and then obtains the driving path of intelligent shopping guide car.Fig. 1 is the schematic diagram corresponding to planing method of the intelligent shopping guide car driving path of prior art.As shown in Figure 1, traditional Visual Graph method solves and keeps away barrier routing algorithm is to connect starting point, impact point and all barriers summit, retain the visible light that does not pass any barrier, and by single source shortest path first, solve starting point to impact point path on the basis of the weighted graph obtaining.
But prior art adopts Visual Graph method to plan the driving path of intelligent shopping guide car, that all summits of barrier are connected with impact point with starting point, such way calculated amount is very large, causes the planning efficiency of intelligent shopping guide car driving path lower, and equipment cost is higher.
Summary of the invention
The object of the invention is to propose a kind of planing method, device and intelligent shopping guide car of intelligent shopping guide car driving path, to reach the planning efficiency that improves intelligent shopping guide car driving path, reduce the object of equipment cost.
The planing method that the invention provides a kind of intelligent shopping guide car driving path, described method comprises:
Determine starting point and the impact point of intelligent shopping guide car;
Described starting point is connected to the virtual line in the space obtaining in space environment by straight line with described impact point;
Between all summits of each barrier that described virtual line is passed, described starting point and described impact point, carry out straight line connection, and retain all visible lights, wherein, described visible light is not pass the line segment of any barrier;
The visible light that each is retained is communicated with, to form path candidate;
Calculate the length of each described path candidate, determine that the shortest path candidate of length is the driving path of intelligent shopping guide car.
Optionally, the method for the length of described each described path candidate of calculating comprises: Di Jiesitela algorithm, Bel be graceful-and Ford algorithm, Prim algorithm or Freud's algorithm.
Optionally, in the length of described each described path candidate of calculating, determine that the shortest path candidate of length is after the driving path of intelligent shopping guide car, also comprises:
The described driving path of determining is widened to processing, and uniform specific item punctuate is set on described driving path.
Accordingly, the present invention also provides a kind of device for planning of intelligent shopping guide car driving path, and described device comprises:
Determine terminal module, for determining starting point and the impact point of intelligent shopping guide car;
Form virtual link module, in space environment, described starting point being connected by straight line with described impact point, the virtual line in the space obtaining;
Form visible light module, carry out straight line connection, and retain all visible lights between all summits, described starting point and described impact point for each barrier that described virtual line is passed, wherein, described visible light be not pass the line segment of any barrier;
Form path candidate module, for the visible light that each is retained, be communicated with, to form path candidate;
Determine driving path module, for calculating the length of each described path candidate, determine that the shortest path candidate of length is the driving path of intelligent shopping guide car.
Optionally, described definite driving path module, specifically for:
By Di Jiesitela algorithm, Bel graceful-Ford algorithm, Prim algorithm or Freud's algorithm calculate the length of each described path candidate.
Optionally, the device for planning of described intelligent shopping guide car driving path, also comprises:
Determination module for the described driving path of determining is widened to processing, and arranges uniform specific item punctuate on described driving path.
Accordingly, the present invention also provides a kind of intelligent shopping guide garage, and described intelligent shopping guide car comprises the device for planning of the intelligent shopping guide car driving path that any embodiment of the present invention provides.
The planing method of a kind of intelligent shopping guide car driving path provided by the invention, device and intelligent shopping guide car, by starting point being connected with impact point in space environment, and all summits of the barrier that virtual line is passed through, starting point and impact point carry out straight line connection, retain all visible lights, further obtain path candidate, and by the length in Di Jiesitela algorithm calculated candidate path, and then the driving path of definite intelligent shopping guide car, the present invention compares the summit of all barriers with prior art with the situation that starting point is connected with impact point, for market, the shopping place kinds of goods such as supermarket are put has symmetric design feature, have more applicability, the present invention can reduce to plan the calculated amount in driving path process, improve the planning efficiency of intelligent shopping guide car driving path, and then reduction equipment cost.And the method that the embodiment of the present invention provides is widened processing to definite driving path, and at driving path, uniform specific item punctuate is being set, can be for the situation of local stream of people's complexity such as supermarket, guarantee that nothing solves " losing " problem of traditional obstacle avoidance algorithm when touching, integral body has improved the availability of intelligent shopping guide car.
Accompanying drawing explanation
Fig. 1 is the schematic diagram corresponding to planing method of the intelligent shopping guide car driving path of prior art;
The realization flow figure of the planing method of the intelligent shopping guide car driving path that Fig. 2 provides for the embodiment of the present invention;
The schematic diagram corresponding to planing method of the intelligent shopping guide car driving path that Fig. 3 a-b provides for the embodiment of the present invention;
The planing method of the intelligent shopping guide car driving path that Fig. 4 provides for the embodiment of the present invention widen process and sub-goal point process is set in corresponding schematic diagram;
The structural representation of the device for planning of the intelligent shopping guide car driving path that Fig. 5 provides for the embodiment of the present invention.
Embodiment
For the technical scheme of technical matters that the present invention is solved, employing and the technique effect that reaches clearer, below in conjunction with drawings and Examples, the present invention is described in further detail.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, in accompanying drawing, only show part related to the present invention but not full content.
The realization flow figure of the planing method of the intelligent shopping guide car driving path that Fig. 2 provides for the embodiment of the present invention.The device for planning of the intelligent shopping guide car driving path that the planing method of the intelligent shopping guide car driving path that the embodiment of the present invention provides can be provided by the embodiment of the present invention is carried out, and this device can be realized by software and/or hardware.The planing method of the intelligent shopping guide car driving path that as shown in Figure 2, the embodiment of the present invention provides comprises:
Step 201, determines starting point and the impact point of intelligent shopping guide car.
Wherein, described starting point is the location point at intelligent shopping guide car place, and described impact point is wanted the location point at the commodity place bought for client.The information of starting point can have the equipment of positioning function and realize in intelligent shopping guide car, and the information of impact point can be inputted by user.
Step 202 is connected with described impact point described starting point in space environment by straight line, the virtual line in the space obtaining.
Fig. 3 a is the planing method corresponding schematic diagram in this step of the intelligent shopping guide car driving path that provides of the embodiment of the present invention.With reference to Fig. 3 a, described starting point is connected to the virtual line in the space obtaining in space environment by straight line with described impact point.Wherein, in Fig. 3 a, starting point represents with S, and impact point represents with G, and a plurality of rectangles represent the shelf in supermarket.Starting point S and impact point G are coupled together with straight line, the virtual line SG in the space of connection source S and a penetrate thing of impact point G formation, the barrier that virtual line SG passes has formed barrier set and can be expressed as: O={O
i| i=1,2 ..., K}.And barrier has been divided into many minutes line segments by virtual line SG in barrier set, wherein, described minute line segment is many line segments that virtual line SG is divided into by barrier.The set L of described minute line segment can be expressed as: L={l
i| i=1,2 ..., K+1}.
Step 203, carries out straight line connection between all summits of each barrier that described virtual line is passed, described starting point and described impact point, and retains all visible lights.
Fig. 3 b is the planing method corresponding schematic diagram in this step of the intelligent shopping guide car driving path that provides of the embodiment of the present invention.With reference to Fig. 3 b, each barrier O that described virtual line SG is passed
iall summits, described starting point S and described impact point G between carry out straight line connection, and retain all visible lights.Wherein, described visible light is not pass the line segment of any barrier.After process step 203, other line segment except visible light is all deleted, and has obtained being schemed by visible light and UNICOM's net that minute line segment forms as shown in Figure 3 b.The power of the net Tu Gebian of UNICOM is the weights under actual range is weighed with a passage is blocked up.
Step 204, the visible light that each is retained is communicated with, to form path candidate.
Wherein, described path candidate can UNICOM's starting point form to connected visible light impact point, the first by many.The driving path of intelligent shopping guide car to be determined can be selected from path candidate.
Step 205, calculates the length of each described path candidate, determines that the shortest path candidate of length is the driving path of intelligent shopping guide car.
In such scheme, optionally, the method for the length of described each described path candidate of calculating comprises: Di Jiesitela algorithm (Dijkstra), Bel be graceful-and Ford algorithm (Bellman-Ford), Prim algorithm (Prim) or Freud's algorithm (Floyd).
Wherein, dijkstra's algorithm is more classical unit Shortest Path Searching Algorithm, and this algorithm can, take one determine point as starting point in the situation that, calculate the shortest path that a node arrives other all nodes.The operation characteristic of algorithm be do not find starting point arrive the shortest path of impact point before centered by starting point to outer diffuse layer by layer, until reach target.Dijkstra's algorithm can draw the optimum solution of shortest path, and his time complexity is n
2, the time of its computing is relevant with efficiency and interstitial content.
Wherein, the driving path of definite intelligent shopping guide car, be one from starting point to impact point without touching path, on this basis is to be mainly that intelligent shopping guide car selects an optimal path shuttling back and forth between the fixed buildings of supermarket without touching path.
Optionally, length at described each described path candidate of calculating, determine that the shortest path candidate of length is after the driving path of intelligent shopping guide car, can also comprise: the described driving path of determining is widened to processing, and uniform specific item punctuate is set on described driving path.The planing method of the intelligent shopping guide car driving path that Fig. 4 provides for the embodiment of the present invention widen process and sub-goal point process is set in corresponding schematic diagram.With reference to Fig. 4, the described driving path of determining is widened to processing, and uniform specific item punctuate is set on described driving path.
Because the described driving path of determining is the paths consisting of the line between different points and point, the described driving path of determining is widened processing object described driving path is carried out to " widening ", both sides at the described driving path of determining are widened and are formed " passage " from starting point to impact point according to certain distance, are exactly the feasible region of intelligent shopping guide car.
For keeping intelligent shopping guide car to walk in feasible region, on described driving path, according to certain distance, several specific item punctuates are set uniformly, the walking of intelligent shopping guide car is become to the process from a sub-impact point to another one specific item punctuate.Arranging of specific item punctuate has very important effect to whole driving path planning and avoiding barrier collision.Intelligent shopping guide car can carry out part and keep away barrier in feasible region, only otherwise exceeding feasible region scope assert that intelligent shopping guide car remains and follow that set path head for target point advances.The setting of specific item punctuate has reduced the distance between two nodes, compared with little nodal pitch, guaranteed when intelligent shopping guide car because keeping away barrier when offset direction, make as early as possible intelligent shopping guide car return on set path, guarantee the validity of feasible region, and effectively avoided the oneself of intelligent shopping guide car to lose.For example, intelligent shopping guide car be take a sub-impact point and is advanced as current goal, and when the distance of intelligent shopping guide car and Current subgoal point is less than or equal to default threshold value for example, current goal is arranged to the next son impact point along path.
It is to ensure on the basis that intelligent shopping guide car travels on described driving path to hide mobile the small-scale obstacle thing that the embodiment of the present invention widens to driving path the object of processing and arrange sub-goal, can guarantee that intelligent shopping guide car is on definite driving path, solve Visual Graph algorithm and asked " losing " problem of keeping away barrier path.
The planing method of the intelligent shopping guide car driving path that the present embodiment provides, by starting point being connected with impact point in space environment, and all summits of the barrier that virtual line is passed through, starting point and impact point carry out straight line connection, retain all visible lights, further obtain path candidate, and by the length in Di Jiesitela algorithm calculated candidate path, and then the driving path of definite intelligent shopping guide car, the present invention compares the summit of all barriers with prior art with the situation that starting point is connected with impact point, for market, the shopping place kinds of goods such as supermarket are put has symmetric design feature, have more applicability, the present invention can reduce to plan the calculated amount in driving path process, improve the planning efficiency of intelligent shopping guide car driving path, and then reduction equipment cost.And the method that the embodiment of the present invention provides is widened processing to definite driving path, and at driving path, uniform specific item punctuate is being set, can be for the situation of local stream of people's complexity such as supermarket, guarantee that nothing solves " losing " problem of traditional obstacle avoidance algorithm when touching, integral body has improved the availability of intelligent shopping guide car.
The structural representation of the device for planning of the intelligent shopping guide car driving path that Fig. 5 provides for the embodiment of the present invention.The device for planning of the intelligent shopping guide car driving path that as shown in Figure 5, the embodiment of the present invention provides comprises: determine terminal module, form virtual link module, form visible light module, form path candidate module and definite driving path module.
Wherein, described definite terminal module, for determining starting point and the impact point of intelligent shopping guide car; The virtual link module of described formation, in space environment, described starting point being connected by straight line with described impact point, the virtual line in the space obtaining; Described formation visible light module, between all summits, described starting point and described impact point for each barrier that described virtual line is passed, carry out straight line connection, and retain all visible lights, wherein, described visible light is not pass the line segment of any barrier; Described formation path candidate module, is communicated with for the visible light that each is retained, to form path candidate; Described definite driving path module, for calculating the length of each described path candidate, determines that the shortest path candidate of length is the driving path of intelligent shopping guide car.
In such scheme, optional, described definite driving path module, specifically for: by Di Jiesitela algorithm, Bel graceful-Ford algorithm, Prim algorithm or Freud's algorithm calculate the length of each described path candidate.
Optionally, the device for planning of the intelligent shopping guide car driving path that the embodiment of the present invention provides, also comprises: determination module, for the described driving path of determining is widened to processing, and is arranging uniform specific item punctuate at described driving path.
The device for planning of the intelligent shopping guide car driving path that the present embodiment provides, by determining terminal module, determine starting point and the impact point of intelligent shopping guide car, by forming virtual link module, described starting point is connected to the virtual line in the space obtaining in space environment by straight line with described impact point, all summits of each barrier described virtual line being passed by formation visible light module, between described starting point and described impact point, carry out straight line connection, and retain all visible lights, the visible light each being retained by formation path candidate module is communicated with, to form path candidate, by determining driving path module, calculate the length of each described path candidate, determine that the shortest path candidate of length is the driving path of intelligent shopping guide car, the present invention is directed to market, the shopping places such as supermarket have symmetric design feature, have more applicable row, the present invention can reduce to plan the calculated amount in driving path process, improve the planning efficiency of intelligent shopping guide car driving path, and then reduction equipment cost.And the determination module that the embodiment of the present invention provides can be widened processing to definite driving path, and at driving path, uniform specific item punctuate is being set, can be for the situation of local stream of people's complexity such as supermarket, guarantee that nothing solves " losing " problem of traditional obstacle avoidance algorithm when touching, integral body has improved the availability of intelligent shopping guide car.
The embodiment of the present invention also provides a kind of intelligent shopping guide car, and described intelligent shopping guide car comprises the device for planning of the intelligent shopping guide car driving path that any embodiment of the present invention provides.
Finally it should be noted that: each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit above; Although the present invention is had been described in detail with reference to aforementioned each embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or some or all of technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (7)
1. a planing method for intelligent shopping guide car driving path, is characterized in that, described method comprises:
Determine starting point and the impact point of intelligent shopping guide car;
Described starting point is connected to the virtual line in the space obtaining in space environment by straight line with described impact point;
Between all summits of each barrier that described virtual line is passed, described starting point and described impact point, carry out straight line connection, and retain all visible lights, wherein, described visible light is not pass the line segment of any barrier;
The visible light that each is retained is communicated with, to form path candidate;
Calculate the length of each described path candidate, determine that the shortest path candidate of length is the driving path of intelligent shopping guide car.
2. the planing method of intelligent shopping guide car driving path according to claim 1, it is characterized in that, the method for the length of described each described path candidate of calculating comprises: Di Jiesitela algorithm, Bel be graceful-and Ford algorithm, Prim algorithm or Freud's algorithm.
3. the planing method of intelligent shopping guide car driving path according to claim 1 and 2, is characterized in that, in the length of described each described path candidate of calculating, determines that the shortest path candidate of length is after the driving path of intelligent shopping guide car, also comprises:
The described driving path of determining is widened to processing, and uniform specific item punctuate is set on described driving path.
4. a device for planning for intelligent shopping guide car driving path, is characterized in that, described device comprises:
Determine terminal module, for determining starting point and the impact point of intelligent shopping guide car;
Form virtual link module, in space environment, described starting point being connected by straight line with described impact point, the virtual line in the space obtaining;
Form visible light module, carry out straight line connection, and retain all visible lights between all summits, described starting point and described impact point for each barrier that described virtual line is passed, wherein, described visible light be not pass the line segment of any barrier;
Form path candidate module, for the visible light that each is retained, be communicated with, to form path candidate;
Determine driving path module, for calculating the length of each described path candidate, determine that the shortest path candidate of length is the driving path of intelligent shopping guide car.
5. the device for planning of intelligent shopping guide car driving path according to claim 4, is characterized in that, described definite driving path module, specifically for:
By Di Jiesitela algorithm, Bel graceful-Ford algorithm, Prim algorithm or Freud's algorithm calculate the length of each described path candidate.
6. according to the device for planning of the intelligent shopping guide car driving path described in claim 4 or 5, it is characterized in that, the device for planning of described intelligent shopping guide car driving path, also comprises:
Determination module for the described driving path of determining is widened to processing, and arranges uniform specific item punctuate on described driving path.
7. an intelligent shopping guide car, is characterized in that, described intelligent shopping guide car comprises the device for planning of the intelligent shopping guide car driving path described in claim 4 to 6 any one.
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